MagicTac：一种新型基于高分辨率3D多层网格的触觉传感器
MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor
AI总结：
受魔方结构启发研发的高分辨率3D多层网格触觉传感器MagicTac，采用多材料增材制造，兼具高分辨率、低成本易制造优势，触觉重建表现优异。
摘要：
机器人与环境交互的精准控制从根本上依赖于对触觉接触的理解。本文提出了一种新型基于网格的高分辨率触觉传感器MagicTac。该传感器受魔方结构启发，采用3D多层网格设计，这一结构可提升MagicTac感知外部交互接触的空间分辨率。此外，该传感器采用多材料增材制造技术制备，在保证生产可重复性的同时简化了制造流程。与传统基于视觉的触觉传感器相比，它具备三大优势：一是空间分辨率高，二是成本极低，三是构造易于制造，仅需极少组装技能。我们通过变形场和光流在触觉重建任务中对所提出的MagicTac进行了评估。结果表明，MagicTac能够捕捉精细纹理，且对动态接触信息敏感。通过基于网格的多材料增材制造技术可提升MagicTac的可负担性与生产效率，其最低制造成本为4.76英镑，最短制造时间为24.6分钟。
英文摘要：
Accurate robotic control over interactions with the environment is fundamentally grounded in understanding tactile contacts. In this paper, we introduce MagicTac, a novel high-resolution grid-based tactile sensor. This sensor employs a 3D multi-layer grid-based design, inspired by the Magic Cube structure. This structure can help increase the spatial resolution of MagicTac to perceive external interaction contacts. Moreover, the sensor is produced using the multi-material additive manufacturing technique, which simplifies the manufacturing process while ensuring repeatability of production. Compared to traditional vision-based tactile sensors, it offers the advantages of i) high spatial resolution, ii) significant affordability, and iii) fabrication-friendly construction that requires minimal assembly skills. We evaluated the proposed MagicTac in the tactile reconstruction task using the deformation field and optical flow. Results indicated that MagicTac could capture fine textures and is sensitive to dynamic contact information. Through the grid-based multi-material additive manufacturing technique, the affordability and productivity of MagicTac can be enhanced with a minimum manufacturing cost of 4.76 GBP and a minimum manufacturing time of 24.6 minutes.
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