无需电子元件的触觉接口，让辅助抓取更简单可靠
TouchDrive: Electronics-Free Tactile Sensing Interface for Assistive Grasping
- 用气动阀将接触力直接转为触觉反馈，全机械无电运行
- 可稳定操控20种不同物品，包括易碎水果和日常用品
- 适合残障人士或资源有限场景，低成本且易部署
辅助机器人抓取在实现安全、自适应操作各类物体方面至关重要。然而，现有系统通常依赖电子传感和多阶段处理流程，增加复杂性并降低可及性。为此，我们提出TouchDrive，一种低成本、无电子元件的触觉传感接口，用于辅助抓取。TouchDrive通过阀控切换，将接触力直接转换为气动反馈，将传感、信号生成与反馈集成于单一被动机械回路中。系统仅需气动常闭阀、压缩空气罐、感应元件和触觉反馈执行器，无需电子部件。通过提供触觉提示，TouchDrive使用户能够调节抓握力，实现对柔性及易碎物体的精准、稳健操作。该接口已在多种机器人平台验证，一致表现出可靠性能和实际适用性，在处理水果及日常物品等任务中表现优异（最多达20种物体）。
原文摘要 · Abstract (English)
Assistive robotic grasping plays an important role in enabling safe and adaptive manipulation of diverse objects. However, existing systems often rely on electronic sensing and multi-stage processing pipelines, increasing system complexity and reducing accessibility. To address these limitations, we present TouchDrive, a cost-effective, electronics-free tactile sensing interface for assistive grasping. TouchDrive directly converts contact forces into pneumatic feedback through valve-mediated switching, integrating sensing, signal generation, and feedback within a single passive mechanical loop. The system can be employed using a pneumatic normally closed valve, a compressed air tank, sensing element, and haptic feedback actuator without electronics. By delivering tactile cues, TouchDrive empowers users to modulate grasp forces, enabling precise and robust delicate manipulation of compliant and fragile objects. The interface has been validated across diverse robotic platforms, consistently demonstrating reliable performance and practical applicability in assistive grasping tasks, such as handling fruits and everyday items (up to 20 objects).
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