无线多模态吸盘实现触觉视觉双区感知，提升非结构环境抓取能力。
FlexiCup: Wireless Multimodal Suction Cup with Dual-Zone Vision-Tactile Sensing
- 中央区动态切换视觉与触觉模态，边缘区持续提供空间感知。
- 真空与伯努利模式下抓取成功率分别达90.0%和86.7%，性能相近。
- 支持模块化设计，适合需感知-驱动解耦的智能机器人应用。
传统吸盘在非结构化环境中缺乏接触感知能力。本文提出FlexiCup，一种集成无线电子元件的多模态吸盘，具备双区视觉-触觉感知功能。中心区域通过光照控制动态切换视觉与触觉模态，外围区域提供连续空间感知。模块化机械设计兼容真空（持续接触吸附）与伯努利（非接触提升）两种驱动方式，同时保持相同的双区感知架构，实现感知与驱动原理的正交解耦。通过双控制范式验证硬件通用性：基于感知的模块化抓取在真空（90.0%成功率）与伯努利（86.7%成功率）模式下表现相当，证明感知架构在根本不同的气动原理中均有效。基于扩散模型的端到端学习在接触感知任务中分别取得73.3%和66.7%的成功率，消融实验表明多头注意力机制带来13%的性能提升。硬件设计、固件及实验视频详见官网：https://flexicup.junhaogong.top。
原文摘要 · Abstract (English)
Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireless electronics that integrate dual-zone vision-tactile sensing. The central zone dynamically switches between vision and tactile modalities via illumination control, while the peripheral zone provides continuous spatial awareness. The modular mechanical design supports both vacuum (sustained-contact adhesion) and Bernoulli (contactless lifting) actuation while maintaining the identical dual-zone sensing architecture, demonstrating sensing-actuation decoupling where sensing and actuation principles are orthogonally separable. We validate hardware versatility through dual control paradigms. Modular perception-driven grasping achieves comparable success rates across vacuum (90.0%) and Bernoulli (86.7%) modes using identical sensing and control pipelines, validating the sensing architecture's effectiveness across fundamentally different pneumatic principles. Diffusion-based end-to-end learning achieves 73.3% and 66.7% success on contact-aware manipulation tasks, with ablation studies confirming 13% improvements from multi-head attention coordinating dual-zone observations. Hardware designs, firmware, and experimental videos are available at the companion website: https://flexicup.junhaogong.top.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。