让水下软夹爪提前感知物体，不靠视觉也能精准抓握
Toward Gripper-Integrated Active Electrosense for Pre-Contact Sensing in Underwater Soft Grippers
- 在仿章鱼软夹爪上集成电场传感，实现接触前的触觉预判
- 5~20伏、1毫赫兹到1千赫兹范围内可检测到物体接近信号
- 适合水下机器人、深海探测等能见度低的场景使用
水下操作常因浑浊、反光和夹爪遮挡导致视觉失效，影响抓取可靠性。软夹爪虽适合柔性接触，但缺乏可靠的接触前感知能力。本文探索将主动电感传感作为轻量级感知方式，在导电介质中通过测量电场扰动实现接触前的远距信号探测。在仿章鱼结构的夹爪上布置离散电极，使用现成硬件采集多通道电压信号。仿真与水箱实验显示，悬浮导电球体引起多电极电压读数产生结构化变化，相对于空水基线具有显著差异，检测效果随激励电压5~20伏、频率1毫赫兹至1千赫兹变化而异。结果表明，集成电感传感可作为水下软操作的互补预接触感知机制。
原文摘要 · Abstract (English)
Underwater manipulation often occurs under degraded visibility due to turbidity, glare, and gripper occlusion, limiting the reliability of vision-based perception during approach and grasping. In such settings, soft grippers are well suited for compliant interaction, but they typically lack an onboard pre-contact cue that can guide approach and closure when vision is unreliable. This extended abstract explores active electrosense as a lightweight sensing modality that can provide a proximity-like signal prior to contact by measuring perturbations of an applied electric field in conductive media. We instrument an octopus-inspired gripper with a discrete electrode layout and record multi-channel sensing voltages using off-the-shelf hardware. Simulation and tank experiments with a suspended conductive sphere show structured, object-dependent changes in the multi-electrode voltage readout relative to empty-water baselines, with detectability varying across excitation of 5 to 20 V and frequencies from 1 mHz to 1 kHz. These findings motivate systematic investigation of gripper-integrated electrosense as a complementary pre-contact cue for underwater soft manipulation.
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