利用触觉反馈进行指尖接触力方向控制
Fingertip Contact Force Direction Control using Tactile Feedback
AI总结：
针对灵巧操作中单指接触力方向精确控制的难题，本文提出一种基于触觉传感的力方向引导方法，并在配备Xela触觉传感器的Allegro手上完成实验验证。
摘要：
人手是一种极其复杂的工具，擅长操作和抓取特性未知的物体。其能力在于通过触觉感知交互动态，并调整接触力的方向和大小，以确保成功操作。尽管控制算法、传感技术、柔顺性集成以及持续研究均取得进展，但利用触觉传感实现灵巧操作的精确手指力控制仍相对未被充分探索。在本工作中，我们探讨了与单指接触力控制相关的挑战，并提出了一种用于引导通过触觉传感感知的此类力的方法。所提方法使用配备Xela触觉传感器的Allegro手进行评估。文中给出并讨论了结果，同时考虑了潜在的未来改进。
英文摘要：
The human hand is an immensely sophisticated tool adept at manipulating and grasping objects of unknown characteristics. Its capability lies in perceiving interaction dynamics through touch and adjusting contact force direction and magnitude to ensure successful manipulation. Despite advancements in control algorithms, sensing technologies, compliance integration, and ongoing research, precise finger force control for dexterous manipulation using tactile sensing remains relatively unexplored.In this work, we explore the challenges related to individual finger contact force control and propose a method for directing such forces perceived through tactile sensing. The proposed method is evaluated using an Allegro hand with Xela tactile sensors. Results are presented and discussed, alongside consideration for potential future improvements.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
