将超声与触觉视觉融合，让机器人能感知物体材质和内部结构。
UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception
- coaxial结构共享组件，同步获取触觉与超声信息。
- 材质分类准确率达99.20%，3-8厘米内接近感应相关性0.90。
- 适合需要精细感知的机器人操作与人机交互场景。
视觉触觉传感器虽能提供高分辨率触觉信息，却无法感知物体材料特性。本文提出UltraTac，一种通过同轴光声架构集成视觉触觉与超声传感的新型传感器。该设计共享结构组件，实现两种模态的一致感知区域。同时，在传统视觉触觉结构中引入声学匹配，无需牺牲触觉性能即可整合超声模态。通过触觉反馈动态调节超声模块工作状态，实现功能灵活协同。系统实验验证三大能力：3-8厘米范围内的接近感应（$R^2=0.90$），材料分类平均准确率99.20%，15类任务下纹理-材质双模态识别准确率达92.11%。最终将传感器集成至机器人操作系，实现对容器表面图案与内部内容的同步检测，验证其在先进人机交互与精准机器人操作中的潜力。
原文摘要 · Abstract (English)
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through a coaxial optoacoustic architecture. The design shares structural components and achieves consistent sensing regions for both modalities. Additionally, we incorporate acoustic matching into the traditional visuotactile sensor structure, enabling integration of the ultrasound sensing modality without compromising visuotactile performance. Through tactile feedback, we dynamically adjust the operating state of the ultrasound module to achieve flexible functional coordination. Systematic experiments demonstrate three key capabilities: proximity sensing in the 3-8 cm range ($R^2=0.90$), material classification (average accuracy: 99.20%), and texture-material dual-mode object recognition achieving 92.11% accuracy on a 15-class task. Finally, we integrate the sensor into a robotic manipulation system to concurrently detect container surface patterns and internal content, which verifies its potential for advanced human-machine interaction and precise robotic manipulation.
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