用单通道信号实现大面积触觉感知,大幅简化布线与数据瓶颈。
Single-Pixel Tactile Skin via Compressive Sampling
- 通过硬件级压缩采样,每个传感单元动态加权输出,实现分布式压缩感知。
- 实测达到3500帧/秒的物体分类速度,8毫秒撞击事件可解析为23帧。
- 支持自适应重建,仅用7%数据即可快速定位接触点,适合高响应机器人系统。
大尺寸、高速电子皮肤的开发对机器人、假肢和人机交互具有重要意义,但受限于布线复杂性和数据瓶颈。本文提出单像素触觉皮肤(SPTS),利用压缩采样技术,通过单一输出通道重构整个传感器阵列的丰富触觉信息。该方法在电路层直接实现:每个传感单元配备微型控制器,向全局求和信号动态贡献加权模拟信号,实现硬件级分布式压缩感知。柔性且可级联的设计将布线简化为少量输入线和一条输出线,测量需求显著低于传统逐行扫描。实验表明,系统可实现有效3500帧/秒的物体分类,并捕捉瞬态动态,将8毫秒的弹丸撞击事件解析为23帧。关键优势在于支持自适应重建,感知保真度随测量时间提升,仅需7%总数据即可快速定位接触,随后逐步精炼至高保真图像,这对响应式机器人系统至关重要。本工作为机器人与人机交互中的大规模触觉智能提供了高效路径。
原文摘要 · Abstract (English)
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel Tactile Skin (SPTS), a paradigm that uses compressive sampling to reconstruct rich tactile information from an entire sensor array via a single output channel. This is achieved through a direct circuit-level implementation where each sensing element, equipped with a miniature microcontroller, contributes a dynamically weighted analog signal to a global sum, performing distributed compressed sensing in hardware. Our flexible, daisy-chainable design simplifies wiring to a few input lines and one output, and significantly reduces measurement requirements compared to raster scanning methods. We demonstrate the system's performance by achieving object classification at an effective 3500 FPS and by capturing transient dynamics, resolving an 8 ms projectile impact into 23 frames. A key feature is the support for adaptive reconstruction, where sensing fidelity scales with measurement time. This allows for rapid contact localization using as little as 7% of total data, followed by progressive refinement to a high-fidelity image - a capability critical for responsive robotic systems. This work offers an efficient pathway towards large-scale tactile intelligence for robotics and human-machine interfaces.
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