Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones typically have a sampling rate of over 40kHz. These accessible acoustic technologies are not yet widely adopted for the explicit purpose of giving robots a sense of touch. Some researchers have used sound to sense tactile information, both monitoring ambient soundscape and with embedded speakers and microphones to measure sounds within structures. However, these options commonly do not provide a direct measure of steady state force, or require electronics integrated somewhere near the contact location. In this work, we present AcousTac, an acoustic tactile sensor for electronics-free force sensitive soft skin. Compliant silicone caps and plastic tubes compose the resonant chambers that emit pneumatic-driven sound measurable with a conventional off-board microphone. The resulting frequency changes depend on the external loads on the compliant end caps. We can tune each AcousTac taxel to specific force and frequency ranges, based on geometric parameters, including tube length and end-cap geometry and thus uniquely sense each taxel simultaneously in an array. We demonstrate AcousTac's functionality on two robotic systems: a 4-taxel array and a 3-taxel astrictive gripper. AcousTac is a promising concept for force sensing on soft robotic surfaces, especially in situations where electronics near the contact are not suitable. Equipping robots with tactile sensing and soft skin provides them with a sense of touch and the ability to safely interact with their surroundings.
MagicSkin: Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin
Robot Perception Lab, Centre for Robotics Research, Department of Engineering, King’s College London（机器人感知实验室，机器人研究研究中心，工程系，伦敦国王学院）；Imperial College London（帝国理工学院伦敦校区）
M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing
Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo（机械信息学系，信息科学和技术研究生院，东京大学）；AI Center, Graduate School of Information Science and Technology, The University of Tokyo（人工智能中心，信息科学和技术研究生院，东京大学）
Learning-enhanced electronic skin for tactile sensing on deformable surface based on electrical impedance tomography
The University of Edinburgh（爱丁堡大学）；School of Engineering（工程学院）；Institute for Imaging, Data and Communications（成像、数据与通信研究所）；Institute for Integrated Micro and Nano Systems（集成微纳系统研究所）
External Photoreflective Tactile Sensing Based on Surface Deformation Measurement
Graduate School of Engineering Science, The University of Osaka（大阪大学工学研究科）；Department of Mechanical Engineering and Science, Kyoto University（京都大学机械工学科）；Faculty of Design Department of Media Design, Kyushu University（九州大学设计学部媒体设计学科）
Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor
Columbia University（哥伦比亚大学）
传统的方法，以实现高定位精度与触觉传感器通常使用一个矩阵的小型化的个人传感器分布在感兴趣的区域。这种方法通常以增加制造和电路的复杂性为代价，并且可能难以适应非平面几何形状。我们建议使用安装在感测区域边缘的低成本光学元件来测量穿过弹性体的光如何受到触摸的影响。多个光发射器和接收器为我们提供了丰富的信号集，其中包含高精度确定压痕位置和深度所需的信息。我们在20 mm × 20 mm的有源传感区域上展示了亚毫米级的位置和深度精度。我们的传感器提供了高深度灵敏度，这是由于两种不同的模式，即光如何通过我们的弹性体被引导。这种方法导致低成本、易于制造的传感器。我们相信这种方法可以适用于覆盖非平面表面，简化未来机器人皮肤应用的集成。
Soft Robotic Link with Controllable Transparency for Vision-based Tactile and Proximity Sensing
Japan Advanced Institute of Science and Technology (JAIST)（日本北陆先端科学技术大学院大学（JAIST））；Hanoi University of Industry（河内工业大学）；Japan Science and Technology Agency（日本科学技术振兴机构）
Development of Soft Tactile Sensor for Force Measurement and Position Detection
University of California, Berkeley（加利福尼亚大学伯克利分校）；Harbin Institute of Technology（哈尔滨工业大学）；Research Institute of Intelligent Control and Systems, Harbin Institute of Technology（哈尔滨工业大学智能控制与系统研究所）；Department of Mechanical Engineering, University of California, Berkeley（加利福尼亚大学伯克利分校机械工程系）
Enabling Tactile Feedback for Robotic Strawberry Handling using AST Skin
Lincoln Institute of Agri-food Technology, University of Lincoln（林肯大学食品农业技术学院）；School of Computer Science, University of Lincoln（林肯大学计算机科学学院）；University of Surrey（萨里大学）
A Novel Bioinspired Neuromorphic Vision-based Tactile Sensor for Fast Tactile Perception
Khalifa University（哈利法大学）；University of Lincoln（林肯大学）；Khalifa University Center of Autonomous Robotic Systems (KUCARS)（哈利法大学自主机器人系统中心）；Healthcare Engineering and Innovation Group (HEIG)（医疗保健工程与创新集团）；Advanced Research and Innovation Center (ARIC)（先进研究与创新中心）
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
Technical University of Munich（慕尼黑工业大学）；TUM School of Computation, Information and Technology (CIT)（慕尼黑工业大学计算、信息与技术学院）；Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所）；the Centre for Tactile Internet with Human-in-the-Loop (CeTI)（以人为中心的触觉互联网中心）
Tactile-JEPA: Topology-Aware Self-Supervised Representation Learning for Distributed Tactile Sensors
Sber AI；Skolkovo Institute of Science and Technology (Skoltech)（斯科尔科沃科学技术学院）；HSE University（高等经济大学）；Artificial Intelligence Research Institute (AIRI)（人工智能研究院）
TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Imprintx Robotics（Imprintx机器人公司）；Beijing Academy of Artificial Intelligence（北京智源人工智能研究院）
Learning Controlled Separation of Small Objects Between Two Fingers with a Tactile Skin
Learning AI for Dextrous Robots Lab（灵巧机器人学习人工智能实验室）；Technical University of Munich（慕尼黑技术大学）；DLR Institute of Robotics and Mechatronics（德意志航天中心机器人与机电研究所）
