用间接感知实现软指触觉定位与压深检测，提升抓取稳定性。
TacFinRay: Soft Tactile Fin-Ray Finger with Indirect Tactile Sensing for Robust Grasping
- 通过铰链传递变形信息，用摄像头+神经网络推断接触状态
- 压深精度达0.1mm，位置精度2mm，适配多种异形物体
- 适合对接触面传感有空间限制的柔性机器人系统
我们提出一种集成触觉传感器的软体Fin-Ray手指，通过间接感知方法同时检测接触位置与压深。在软体结构与刚性传感模块间引入铰链机构，将变形和位移信息传递至底部横梁，其上布置仿生设计的标记针阵列，类似TacTip视觉触觉传感器。内部摄像头捕捉变形模式，经卷积神经网络处理，推断接触状态而无需直接感知手指表面。通过调整针布局与铰链方向优化设计，实现0.1毫米的压深精度和2毫米的位置感知精度。该感知系统对不同形状和尺寸的触碰体均表现出鲁棒泛化能力，并成功应用于拾取位置不确定的抓放任务中，触觉反馈显著提升了放置精度。整体方案为轻量化、柔性且可扩展的触觉感知提供了适用于远离接触界面场景的解决方案。
原文摘要 · Abstract (English)
We present a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism is integrated between the soft Fin-Ray structure and a rigid sensing module, allowing deformation and translation information to be transferred to a bottom crossbeam upon which are an array of marker-tipped pins based on the biomimetic structure of the TacTip vision-based tactile sensor. Deformation patterns captured by an internal camera are processed using a convolutional neural network to infer contact conditions without directly sensing the finger surface. The finger design was optimized by varying pin configurations and hinge orientations, achieving 0.1\,mm depth and 2mm location-sensing accuracies. The perception demonstrated robust generalization to various indenter shapes and sizes, which was applied to a pick-and-place task under uncertain picking positions, where the tactile feedback significantly improved placement accuracy. Overall, this work provides a lightweight, flexible, and scalable tactile sensing solution suitable for soft robotic structures where the sensing needs situating away from the contact interface.
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