8000个触觉传感器实现全身实时触感，让机器人柔顺抓取易损物体。
Scaling Fabric-Based Piezoresistive Sensor Arrays for Whole-Body Tactile Sensing
- 用织物传感器+定制电路降低信号串扰至3.3%以下
- 采用链式SPI总线架构，实测1平方米内8000个触点同步更新超50帧/秒
- 适合研究全身触觉控制与人机交互，系统稳定可靠
实现鲁棒的全身触觉感知是复杂操作的关键挑战，常受限于布线复杂度、数据吞吐量和系统可靠性。本文提出一套完整架构，将开源织物基压阻传感器与定制读出电路结合，通过硬件手段将信号串扰降至3.3%以下。关键创新在于一种新型级联式SPI总线拓扑，避免了无线协议的实际限制及基于USB集线器系统的布线难题。该架构可在1平方米传感面积上以超过50帧/秒的速度同步传输超过8000个触觉像素（taxels）的数据，证实其适用于实时控制。在全身抓握任务中，无反馈时机器人开环轨迹导致力失控，逐渐压溃一个可变形纸箱；而引入实时触觉反馈后，机器人将动作转化为柔和稳定的抓握，成功操控物体且未造成结构损伤。本工作为未来全身控制与物理人机交互研究提供了可靠、可复现的平台。
原文摘要 · Abstract (English)
Scaling tactile sensing for robust whole-body manipulation is a significant challenge, often limited by wiring complexity, data throughput, and system reliability. This paper presents a complete architecture designed to overcome these barriers. Our approach pairs open-source, fabric-based sensors with custom readout electronics that reduce signal crosstalk to less than 3.3% through hardware-based mitigation. Critically, we introduce a novel, daisy-chained SPI bus topology that avoids the practical limitations of common wireless protocols and the prohibitive wiring complexity of USB hub-based systems. This architecture streams synchronized data from over 8,000 taxels across 1 square meter of sensing area at update rates exceeding 50 FPS, confirming its suitability for real-time control. We validate the system's efficacy in a whole-body grasping task where, without feedback, the robot's open-loop trajectory results in an uncontrolled application of force that slowly crushes a deformable cardboard box. With real-time tactile feedback, the robot transforms this motion into a gentle, stable grasp, successfully manipulating the object without causing structural damage. This work provides a robust and well-characterized platform to enable future research in advanced whole-body control and physical human-robot interaction.
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