贴肤传感器实时捕捉复杂形变，精度达0.62毫米。
A skin-like conformal sensor for real-time shape mapping
- 用柔性薄膜嵌入镓铟氧化物应变片阵列，测量多向形变。
- 5×5阵列在0.1秒延迟下实现均方误差0.62毫米的3D重建。
- 适合皮肤运动追踪、触觉交互和手术中实时监测。
可靠的实时三维形变传感对可变形系统在运动中的稳定控制与解析至关重要。现有视觉方法需视线通透且设备复杂，在遮挡或空间受限场景中应用受限。本文提出一种可扩展的贴肤式传感器，通过分布式应变测量实时重建连续三维形变。该器件在弹性体薄膜中集成二维镜像堆叠的印刷氧化共晶镓铟（o-EGaIn）应变片阵列，用于测量非中性轴应变。结合力学引导观测模型与快速优化算法，系统可同时估计局部曲率、拉伸、偏移和方向，实现复杂曲面重构。一个5×5阵列（12毫米间距）在所有测试场景中达到0.62毫米均方误差，延迟仅0.1秒。当贴合复杂表面时，可快速完成三维形状映射。演示包括手掌手势、指尖按压及接触致气球变形，验证其在表皮运动追踪、触觉交互和术中监测中的应用价值。
原文摘要 · Abstract (English)
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded and space-constrained settings. Here, we introduce a scalable, skin-like sensor that reconstructs its continuous 3D deformation in real time from distributed strain measurements. The device embeds a 2D array of mirror-stacked, printed oxidized eutectic gallium-indium (o-EGaIn) strain gauges within an elastomeric film to measure off-neutral-axis strains. Combined with a mechanics-informed observation model and a fast optimization routine, the system estimates local curvature, elongation, offset, and orientation under concurrent stretching, bending, and indentation, enabling reconstruction of complex surfaces. A 5-by-5 array with a 12 mm pitch achieves a mean surface reconstruction error of 0.62 mm with 0.1s latency across all tested scenarios. When conforming to complex surfaces, the sensor provides fast 3D shape mapping of the underlying geometry. Demonstrations involving palm gesturing, finger indentation, and contact-induced balloon deformation highlight utility for epidermal motion tracking, haptic interaction, and intraoperative monitoring.
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