用混合传感技术提升机器人皮肤的受力感知精度与实用性。
EIT-Pneumatic Hybrid Robotic Skin for Practical and Accurate Force Map Reconstruction
- 结合电容成像与气压传感，通过正则化反演实现高精度触感重建。
- 敏感度不均匀性系数从0.31降至0.14，大幅改善电容成像缺陷。
- 可3D打印组装，适用于人形机器人全身触觉系统集成。
我们提出一种融合电学阻抗断层扫描（EIT）与气压触觉传感的混合式机器人皮肤，以提升受力重建能力。该皮肤完全通过3D打印和喷涂工艺制造，成本低且易于搭建。采用Tikhonov正则化反演算法，并结合每单元气压校准，实现了基于简单测量方案的大面积精确触觉感知。通过载荷传感器压痕实验验证，同一感应垫内各位置的受力重建结果具有一致性。相较于仅使用EIT的基线方法，敏感度不均匀性系数由0.31降至0.14，有效缓解了EIT长期存在的非均匀性问题。进一步在人形机器人胸部部署测试中，发现气压信号在多种接触场景下仍保持稳定，包括同一感应垫上多点同时接触。结果表明，该方法为真实机器人系统实现准确、可扩展的全身触觉感知提供了可行路径。
原文摘要 · Abstract (English)
We present a hybrid robotic skin that combines electrical impedance tomography (EIT) with pneumatic tactile sensing to improve force reconstruction capability. The developed robotic skin is fabricated entirely by 3D printing and spray coating, making it affordable and easy to build. A Tikhonov-regularized inverse reconstruction, paired with per-pad pneumatic calibration, enables accurate large-area tactile sensing with a simple measurement scheme. For validation, we conducted load-cell indentation experiments; the results showed consistent force reconstruction across locations within a pad. Compared with an EIT-only baseline, sensitivity non-uniformity was also reduced, with the coefficient of variation decreasing from 0.31 to 0.14, indicating that the proposed approach addresses a longstanding limitation of EIT. We further demonstrated chest-mounted integration on a humanoid robot and found that the pneumatic signals remained reliable across diverse contact scenarios, including multiple simultaneous contacts on the same sensing pad. These results indicate a practical path toward accurate, scalable whole-body tactile sensing in real robotic systems.
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。