低成本触觉传感系统实现快速力与滑移反馈，提升机器人抓取脆弱物体能力
FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation
- 用3D打印柔性指结构内置气道，实现低延迟触觉反馈
- 0-8N力估测误差仅0.2N，滑移检测快于100ms
- 适用于易碎易滑物体，抓取成功率92%，滑移识别准确率93%
抓取易碎物品仍是机器人操作的主要挑战。触觉感知与软体机器人可改善精细操作，但通常集成复杂或响应迟缓。我们提出FORTE，一种易于制造的触觉传感系统。FORTE采用3D打印的鳍状结构夹爪，内部设有气道，提供低延迟的力与滑移反馈，使机器人能精准施力而不损坏物体。系统在0-8 N范围内力估计平均误差为0.2 N，滑移事件检测时间小于100 ms。FORTE可成功抓取多种易滑、易碎、易变形物体，如树莓和薯片，成功率高达92%；滑移检测准确率达93%。这些结果表明FORTE是精细机器人操作的可靠解决方案。
原文摘要 · Abstract (English)
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these issues through FORTE, an easy-to-fabricate tactile sensing system. FORTE uses 3D-printed fin-ray grippers with internal air channels to provide low-latency force and slip feedback. This feedback allows us to apply just enough force to grasp objects without damaging them. We accurately estimate grasping forces from 0-8 N with an average error of 0.2 N, and detect slip events within 100 ms of occurring. FORTE can grasp a wide range of slippery, fragile, and deformable objects, including raspberries and potato chips with 92% success and achieves 93% accuracy in detecting slip events. These results highlight FORTE's potential as a robust solution for delicate robotic manipulation. Project page: https://merge-lab.github.io/FORTE/
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