用柔性声波导实现可扩展的动态触觉感知，突破面积与灵活性的瓶颈。
Scalable Dynamic Tactile Sensing Enabled by Passive and Flexible Acoustic Waveguides
- 基于亚波长声波导网络，弹性膜封顶谐振腔通过微管互联，弯曲时声学传输不变。
- 4毫米空间分辨率，64节点阵列精度超99%，5.5毫秒内完成实时定位与波形重建。
- 适合穿戴设备与大面积触觉皮肤，适用于人机交互、医疗传感等场景。
人工动态触觉感知需兼具灵敏度、鲁棒性与柔韧性，但现有技术在扩展至大面积阵列时面临权衡，且布线复杂、成本高。本文提出一种被动分布式方案，利用深亚波长声波导，将性能与结构柔性解耦。由弹性膜封顶的赫姆霍兹谐振腔通过弹簧增强微管互联，形成封闭网络，在宏观弯曲下仍保持恒定声学传输。通过稀疏嵌入麦克风，系统实现4毫米最高空间分辨率，64节点阵列中>99%准确率的实时定位，以及<100 Hz低频信号的波形重建。快速连续小波变换结合轻量神经网络，推理时间仅5.5毫秒。我们展示了可贴合原型——指尖阵列、触觉手套和大面积皮肤，能检测单根毛发接触至5毫克颗粒冲击、动脉脉搏波、羽毛触碰及手指接触。该方案为下一代人机接口提供了可扩展、柔性、低成本的新范式。
原文摘要 · Abstract (English)
Artificial dynamic tactile sensing requires sensitivity, robustness, and compliance, yet existing technologies face trade-offs when scaling to large-area arrays, compounded by wiring complexity and cost. Here, we report a passive distributed paradigm using deep sub-wavelength acoustic waveguides that decouples performance from structural flexibility. Elastic-membrane-capped Helmholtz resonators interconnected by spring-reinforced microtubes form an enclosed network with invariant acoustic transmission under macroscopic bending. By sparsely embedding microphones, the system achieves real-time localization (4 mm highest spatial resolution; >99% accuracy in a 4 microphones 64-node sensing array) and waveform reconstruction of low-frequency signals (<100 Hz). Fast Continuous Wavelet Transform and a lightweight neural network enable inference within 5.5 ms. We demonstrate conformable prototypes-fingertip arrays, a tactile glove, and large-area skins-detecting stimuli from single-hair contact to 5-mg particle impacts, arterial pulse waves, feather touches, and finger contact. This establishes a scalable, flexible, low-cost paradigm for next-generation human-machine interfaces.
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