3D打印皮肤让机器人提前感知接触，提升操作安全性。
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
- 全身体感皮肤模块化设计，可适配任意机器人形态
- 感知范围达18厘米，实现接触前的提前预警
- 构建身体中心的感知空间，适合人机共存场景
在动态共享环境中运行的机器人可通过提前预判接触来提升性能。我们提出GenTact-Prox，一种完全3D打印的仿生皮肤，集成触觉与接近感应功能，用于检测和预判接触。该皮肤平台设计模块化，可通过程序生成适配任意机器人形态，并实现全身覆盖。评估显示其检测范围可达18厘米。为表征机器人通过该皮肤感知周围空间的能力，我们引入数据驱动的感知空间映射框架——周身感知空间（Perisensory Space），即机器人身体为中心、传感器可提供接触预判信息的体积分域。我们在Franka Research 3机器人上部署了五个GenTact-Prox单元，实现了在线物体感知与接触预测，验证了该方法的有效性。
原文摘要 · Abstract (English)
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and anticipation. The artificial skin platform is modular in design, procedurally generated to fit any robot morphology, and can cover the whole body of a robot. The skin achieved detection ranges of up to 18 cm during evaluation. To characterize how robots perceive nearby space through this skin, we introduce a data-driven framework for mapping the Perisensory Space -- the body-centric volume of space around the robot where sensors provide actionable information for contact anticipation. We demonstrate this approach on a Franka Research 3 robot equipped with five GenTact-Prox units, enabling online object-aware operation and contact prediction.
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