一款可变形的触觉传感器，能同时感知滑动、压力和力矩。
Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing
- 一体式设计集成速度、力/力矩与压力分布感知。
- 可稳定追踪平面与曲面，适应多种材质表面。
- 适合快速低成本制造，用于手部操作的精密控制。
本文提出一种新型用于手部操作的触觉传感器，具备滑动感知能力，将速度、力/力矩与压力分布感知集成于单一可变形接触垫中。据我们所知，这是首个在单一柔性结构内融合这三种传感模态的传感器。该传感器具有可变形接触面，能够在广泛的不同材质表面上稳定追踪平面与曲面。通过一系列综合实验评估了其性能，验证了其优势与局限性。传感器采用标准PCB制造与快速原型技术相结合的方式，实现快速且低成本的生产。
原文摘要 · Abstract (English)
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of diffuse surface materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations. The sensor is designed for rapid and low-cost fabrication using a combination of standard PCB manufacturing and rapid prototyping techniques.
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。