可全向滚动的触觉传感器，实现实时3D表面重建与力感知。
GelSphere: An Omnidirectional Rolling Vision-Based Tactile Sensor for Online 3D Reconstruction and Normal Force Estimation
- 内部钢珠构成轴承层，支持球形传感器全向滚动。
- 多方向滚动下仍保持高精度几何重建，误差小。
- 适合机器人实时触觉导航与复杂表面扫描。
我们提出GelSphere，一种基于视觉的球形触觉传感器，用于实时连续表面扫描。与传统仅能局部感知且滑动易损的视觉触觉传感器，以及只能单向滚动的圆柱形传感器不同，本设计通过在传感器内部设置钢珠形成轴承层，使凝胶层与刚性外壳间实现全向滚动。传感器通过Wi-Fi传输触觉图像，具备在线大表面积重建能力。定量结果显示，该传感器在多方向滚动下仍保持几何保真度和高重建精度，实现不间断表面扫描。
原文摘要 · Abstract (English)
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are damaged when slid across surfaces, and cylindrical tactile sensors that can only roll along a fixed direction, our design enables omnidirectional rolling on surfaces. We accomplish this through our novel sensing system design, which has steel balls inside the sensor, forming a bearing layer between the gel and the rigid housing that allows rolling motion in all axes. The sensor streams tactile images through Wi-Fi, with online large-surface reconstruction capabilities. We present quantitative results for both reconstruction accuracy and image fusion performance. The results show that our sensor maintains geometric fidelity and high reconstruction accuracy even under multi-directional rolling, enabling uninterrupted surface scanning.
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