用多模态传感和柔性材料提升3D打印仿生皮肤的触觉覆盖与实用性
Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
- 融合飞行时间与自电容传感，实现多模态信息采集
- 六单元40个传感器在机器人臂上完成接触检测与压力响应
- 柔性覆盖层提升抗冲击性，简化电路接口设计
3D打印仿生皮肤是实现全身触觉与近场感知覆盖的可扩展方法，但以往实现多局限于单模态传感和刚性材料。为提升3D打印仿生皮肤的实际可用性，本文提出一种结合飞行时间（ToF）与自电容（SC）传感的混合感知皮肤，实现了多模态传感集成、用于吸能与压力感知的柔性可变形外层，以及印刷导电线路与外部电子器件之间的简化电气接口。通过在FR3机械臂上部署六个仿生皮肤单元，共40个感应元件，验证了该系统可实现接触检测、场景重建及与压力相关的触觉反馈。
原文摘要 · Abstract (English)
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed artificial skins, we present a hybrid time-of-flight (ToF) and self-capacitance (SC) sensing skin that demonstrates multi-modal sensing integration, soft compliant coverings for impact absorption and pressure sensing, and a streamlined electrical interface between printed conductive traces and external electronics. We show that combining ToF and SC modalities enables contact detection, scene reconstruction, and pressure-correlated tactile responses with the compliant covering by deploying six artificial skin units with 40 sensing elements over an FR3 robot arm.
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