可拉伸高精度光学触觉传感器实现机器人轨迹实时精准追踪
Stretchable and High-Precision Optical Tactile Sensor for Trajectory Tracking of Parallel Mechanisms
- 基于连续光谱过滤原理，实现自解耦高空间分辨率
- 空间分辨率达7μm，力分辨率5mN，拉伸弯曲下线性度0.996
- 适用于机器人运动轨迹追踪，旋转分辨率达0.02°
可拉伸传感器因其柔性材料的高顺应性，在软体机器人、医疗设备和人机交互中前景广阔。现有离散传感策略如传感器阵列和分布式传感广泛应用于各类触觉系统，但如何在可拉伸触觉传感器中同时实现高空间分辨率、自解耦能力及对非轴向干扰的低敏感性仍具挑战。本文提出一种基于连续光谱过滤原理的可拉伸触觉传感器，可实现超高的刺激分辨率。该传感器在拉伸与弯曲条件下仍保持高线性空间响应（0.996），具备7 μm的连续空间分辨率和5 mN的力分辨率，且具有设计可扩展性和抗穿刺、抗切割的交互鲁棒性。进一步将传感器集成于平面并联机构中，实现了旋转分辨率高达0.02°的实时精确轨迹追踪。
原文摘要 · Abstract (English)
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors, are broadly involved in tactile sensors across versatile applications. However, it remains a challenge to achieve high spatial resolution with self-decoupled capacity and insensitivity to other off-axis stimuli for stretchable tactile sensors. Herein, we develop a stretchable tactile sensor based on the proposed continuous spectral-filtering principle, allowing superhigh resolution for applied stimuli. This proposed sensor enables a high-linear spatial response (0.996) even during stretching and bending, and high continuous spatial (7 μm) and force (5 mN) resolutions with design scalability and interaction robustness to survive piercing and cutting. We further demonstrate the sensors' performance by integrating them into a planar parallel mechanism for precise trajectory tracking (rotational resolution: 0.02°) in real time.
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