低成本可扩展触觉传感模块，让机器人手更灵敏
FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems
- 用柔性电路+压阻材料制成贴片，可批量生产且适配软硬夹爪
- 100Hz高频同步采样，支持实时控制与大规模数据采集
- 开源易用，适合做触觉学习、仿真到现实的技能迁移
我们提出 FlexiTac，一种低成本、开源、可扩展的压阻式触觉传感解决方案，专为机器人末端执行器设计。该系统由两部分组成：(i) 薄而灵活的触觉传感贴片，提供密集触觉信号；(ii) 紧凑的多通道读出板，通过串行通信以100 Hz频率将同步测量数据传至主机。触觉贴片采用密封三明治结构（FPC-Velostat-FPC），电极图案直接集成于柔性印刷电路，显著提升制造效率和一致性，同时保持机械柔韧性，适用于刚性与柔性夹爪。读出电路使用通用低价元器件，可在多种配置下（指尖贴片、大面积触觉阵列）无须大幅改造即可安装于不同平台。实验表明，FlexiTac支持现代触觉学习流程，包括3D视觉-触觉融合用于接触感知决策、跨体感技能迁移，以及基于GPU并行触觉仿真的真实-仿真-真实微调。项目主页见 https://flexitac.github.io/。
原文摘要 · Abstract (English)
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that provide dense tactile signals and (ii) a compact multi-channel readout board that streams synchronized measurements for real-time control and large-scale data collection. FlexiTac pads adopt a sealed three-layer laminate stack (FPC-Velostat-FPC) with electrode patterns directly integrated into flexible printed circuits, substantially improving fabrication throughput and repeatability while maintaining mechanical compliance for deployment on both rigid and soft grippers. The readout electronics use widely available, low-cost components and stream tactile signals to a host computer at 100 Hz via serial communication. Across multiple configurations, including fingertip pads and larger tactile mats, FlexiTac can be mounted on diverse platforms without major mechanical redesign. We further show that FlexiTac supports modern tactile learning pipelines, including 3D visuo-tactile fusion for contact-aware decision making, cross-embodiment skill transfer, and real-to-sim-to-real fine-tuning with GPU-parallel tactile simulation. Our project page is available at https://flexitac.github.io/.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。