低成本软腕提供接触力反馈，性能媲美高成本传感器。
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
- 用柔性结构变形感知外力，通过标记追踪转为力信号
- 无需校准即可实现接触任务中力变化的准确捕捉
- 适合预算有限但需精细触觉交互的研究者
接触反馈对接触密集型机器人操作至关重要，可使机器人检测微小交互变化并相应调整动作。六轴力矩传感器虽常用，但因成本高、易损，限制了其在复杂接触任务中的应用。为此，我们提出ShapeForce——一种低成本、即插即用的软质腕部装置，可为接触密集型操作提供类力信号反馈。受人类依赖相对力变化而非精确力值的启发，ShapeForce将外部力与力矩转化为其柔性核心的可测形变，再通过基于标记的位姿追踪估算形变，并转换为类力信号。该设计无需校准或专用电子设备即可获得精确数值，而是专注于捕捉足够用于接触密集操作的力与力矩变化。大量实验表明，在多种接触密集任务与操作策略下，ShapeForce性能可媲美六轴力矩传感器，且成本极低。
原文摘要 · Abstract (English)
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback, but their high cost and fragility have discouraged many researchers from adopting them in contact-rich tasks. To offer a more cost-efficient and easy-accessible source of contact feedback, we present ShapeForce, a low-cost, plug-and-play soft wrist that provides force-like signals for contact-rich robotic manipulation. Inspired by how humans rely on relative force changes in contact rather than precise force magnitudes, ShapeForce converts external force and torque into measurable deformations of its compliant core, which are then estimated via marker-based pose tracking and converted into force-like signals. Our design eliminates the need for calibration or specialized electronics to obtain exact values, and instead focuses on capturing force and torque changes sufficient for enabling contact-rich manipulation. Extensive experiments across diverse contact-rich tasks and manipulation policies demonstrate that ShapeForce delivers performance comparable to six-axis force-torque sensors at an extremely low cost.
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