Feelit：结合柔顺形状显示器与基于视觉的触觉传感器以实现实时触觉遥传
Feelit: Combining Compliant Shape Displays with Vision-Based Tactile Sensors for Real-Time Teletaction
AI总结：
本文提出低成本触觉遥传设备Feelit，结合基于销钉的柔顺形状显示器与GelSight视觉触觉传感器，实现物理3D表面重建与剪切位移，在形状识别等实验中展现了提升遥操作触觉反馈的潜力。
摘要：
触觉遥传，即触觉反馈或触摸的传输，是遥操作领域的一个关键方面。高质量的触觉遥传反馈使用户能够远程操作物体，并提升操作员与机器人之间人机界面的质量，从而使复杂的操作任务成为可能。然而，遥操作领域中触觉遥传的进展尚未充分利用现代基于视觉的触觉传感器所提供的高分辨率3D数据。现有的触觉遥传解决方案在形式或功能的一个或多个方面存在不足，例如保真度或硬件占用空间。在本文中，我们展示了一款低成本触觉遥传设备的设计，该设备能够通过物理3D表面重建和剪切位移，利用来自基于视觉的触觉传感器的实时高分辨率触觉信息。我们提出了我们的设备Feelit，它结合使用基于销钉的形状显示器和柔顺机构来完成这一任务。基于销钉的形状显示器利用由24个伺服电机和微型鲍登线组成的阵列，使该设备在15x10 mm的显示区域内具有6x4个销钉的分辨率。每个销钉可在200 ms内驱动高达3 mm，同时提供80 N的力和1.5 um的深度分辨率。剪切位移和旋转通过柔顺机构设计实现，允许横向至少1 mm的位移和10度的旋转。这种实时3D触觉重建是通过使用基于视觉的触觉传感器GelSight [1]，以及一种对深度数据进行采样并利用标记跟踪来生成执行器命令的算法来实现的。通过包括形状识别和相对重量识别在内的一系列实验，我们表明我们的设备有潜力扩展遥操作领域的触觉遥传能力。
英文摘要：
Teletaction, the transmission of tactile feedback or touch, is a crucial aspect in the field of teleoperation. High-quality teletaction feedback allows users to remotely manipulate objects and increase the quality of the human-machine interface between the operator and the robot, making complex manipulation tasks possible. Advances in the field of teletaction for teleoperation however, have yet to make full use of the high-resolution 3D data provided by modern vision-based tactile sensors. Existing solutions for teletaction lack in one or more areas of form or function, such as fidelity or hardware footprint. In this paper, we showcase our design for a low-cost teletaction device that can utilize real-time high-resolution tactile information from vision-based tactile sensors, through both physical 3D surface reconstruction and shear displacement. We present our device, the Feelit, which uses a combination of a pin-based shape display and compliant mechanisms to accomplish this task. The pin-based shape display utilizes an array of 24 servomotors with miniature Bowden cables, giving the device a resolution of 6x4 pins in a 15x10 mm display footprint. Each pin can actuate up to 3 mm in 200 ms, while providing 80 N of force and 1.5 um of depth resolution. Shear displacement and rotation is achieved using a compliant mechanism design, allowing a minimum of 1 mm displacement laterally and 10 degrees of rotation. This real-time 3D tactile reconstruction is achieved with the use of a vision-based tactile sensor, the GelSight [1], along with an algorithm that samples the depth data and marker tracking to generate actuator commands. Through a series of experiments including shape recognition and relative weight identification, we show that our device has the potential to expand teletaction capabilities in the teleoperation space.
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。
