MOTIF手集热、惯、力等多模态传感，实现更安全精准的抓取。
The MOTIF Hand: A Robotic Hand for Multimodal Observations with Thermal, Inertial, and Force Sensors
- 在手指密集分布触觉、热成像、深度与惯性传感器
- 可区分外观相同但重量不同的物体，提升抓取安全性
- 低成本设计（低于4000美元），适合科研复现
提升多指机器人手灵巧操作需丰富感知能力，但现有设计缺乏机载热感与扭矩感知。本文提出MOTIF手，基于LEAP手改进，集成：(i) 手指密集触觉信息，(ii) 深度传感器，(iii) 热成像相机，(iv) IMU传感器，(v) 视觉传感器。该手设计成本低于4000美元，易于复现。通过实验验证其多模态感知能力：一是将热感融入3D重建，实现温度感知的安全抓取；二是利用多模态数据区分外观相同但质量不同的物体，突破仅靠视觉的方法局限。
原文摘要 · Abstract (English)
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile robotic hand that extends the LEAP hand by integrating: (i) dense tactile information across the fingers, (ii) a depth sensor, (iii) a thermal camera, (iv), IMU sensors, and (v) a visual sensor. The MOTIF hand is designed to be relatively low-cost (under 4000 USD) and easily reproducible. We validate our hand design through experiments that leverage its multimodal sensing for two representative tasks. First, we integrate thermal sensing into 3D reconstruction to guide temperature-aware, safe grasping. Second, we show how our hand can distinguish objects with identical appearance but different masses - a capability beyond methods that use vision only.
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