用振动弦实现大范围触觉感知，可实时检测位置、力度和滑移。
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
- 用电磁激励振动弦，通过拾音器捕捉接触引起的频谱变化。
- 实现毫米级定位、可靠力估计与实时滑移检测。
- 适合需要柔性大面积极端触觉的机器人应用。
分布式触觉传感在大面积上难以扩展：密集传感器阵列会增加布线、成本和脆弱性，而许多替代方案覆盖范围有限或无法捕捉快速交互动态。我们提出「Sound of Touch」，一种基于张紧弦振动的主动声学触觉感知方法。弦持续受电磁激励，少量拾音器（接触麦克风）监测接触引起的频谱变化。从短时音频信号中，系统可估计接触位置、法向力并检测滑移。为指导设计并解释感知机制，我们构建了基于物理的弦振动模拟器，能预测接触位置与力如何改变振动模式。实验表明，系统实现毫米级定位、可靠的力估计及实时滑移检测。贡献包括：(i) 一种轻量、可扩展的弦基触觉传感硬件概念，适用于扩展机器人表面；(ii) 一个基于物理的仿真与分析工具，用于接触引起的频谱偏移；(iii) 一套将振动测量映射到接触状态的实时推理管道。
原文摘要 · Abstract (English)
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of Touch, an active acoustic tactile-sensing methodology that uses vibrating tensioned strings as sensing elements. The string is continuously excited electromagnetically, and a small number of pickups (contact microphones) observe spectral changes induced by contact. From short-duration audio signals, our system estimates contact location and normal force, and detects slip. To guide design and interpret the sensing mechanism, we derive a physics-based string-vibration simulator that predicts how contact position and force shift vibration modes. Experiments demonstrate millimeter-scale localization, reliable force estimation, and real-time slip detection. Our contributions are: (i) a lightweight, scalable string-based tactile sensing hardware concept for instrumenting extended robot surfaces; (ii) a physics-grounded simulation and analysis tool for contact-induced spectral shifts; and (iii) a real-time inference pipeline that maps vibration measurements to contact state.
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