用莫尔条纹放大微变形，实现视觉触觉一体的六维力感知。
MoiréTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moiré Pattern Amplification
- 通过双层微光栅叠加生成密集莫尔图案，提升触觉分辨率。
- 六维力/力矩测量R²超0.98，可调灵敏度达三倍变化。
- 兼具高透光性与视觉识别能力，适合机器人精细操作。
视觉触觉传感器通常采用稀疏标记阵列，限制空间分辨率且缺乏清晰的力-图像映射关系。为此，我们提出莫尔触觉传感器（MoiréTac），其在透明结构中通过重叠微光栅生成密集干涉图样。当两组光栅错位时，会形成放大微观形变的莫尔条纹。该设计保持光学透明性以支持视觉任务，同时生成连续莫尔场用于触觉感知，实现六维力/力矩测量、接触定位与视觉感知的同步。我们结合莫尔图样的物理特征（亮度、相位梯度、方向、周期）与深度空间特征，通过端到端学习映射至六维力/力矩，实现可解释回归。实验表明：六轴测量的R² > 0.98；通过几何参数调节灵敏度，可实现三倍增益调整；即使存在莫尔叠加，仍具备物体分类的视觉功能。最后，将传感器集成于机械臂，成功完成瓶盖拆卸，验证其在灵巧操作中的应用潜力。
原文摘要 · Abstract (English)
Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \textbf{MoiréTac}, a dual-mode sensor that generates dense interference patterns via overlapping micro-gratings within a transparent architecture. When two gratings overlap with misalignment, they create moiré patterns that amplify microscopic deformations. The design preserves optical clarity for vision tasks while producing continuous moiré fields for tactile sensing, enabling simultaneous 6-axis force/torque measurement, contact localization, and visual perception. We combine physics-based features (brightness, phase gradient, orientation, and period) from moiré patterns with deep spatial features. These are mapped to 6-axis force/torque measurements, enabling interpretable regression through end-to-end learning. Experimental results demonstrate three capabilities: force/torque measurement with R^2 > 0.98 across tested axes; sensitivity tuning through geometric parameters (threefold gain adjustment); and vision functionality for object classification despite moiré overlay. Finally, we integrate the sensor into a robotic arm for cap removal with coordinated force and torque control, validating its potential for dexterous manipulation.
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