TacPalm：一种具有仿生光学触觉掌部的软体夹爪，用于稳定精确抓取
TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping
AI总结：
本文提出在软体夹爪掌部集成TacTip光学触觉传感器，并通过轻接触检测、抓取姿态调整和脱离接触检测三种策略，将抓取成功率从45%提升至97%，实现亚毫米级精确放置。
摘要：
在家庭和工厂等环境中操作易碎物体需要稳定而轻柔的抓取以及精确而安全的放置。与传统刚性夹爪相比，使用软体夹爪可降低控制复杂度并减少损坏物体的风险。然而，在不损害手指柔顺性和适应性的前提下，将基于相机的光学触觉传感集成到软体夹爪中具有挑战性，同时还要确保触觉感知的精度不受物体接触过程中软结构被动变形的影响。在本文中，我们展示了一种模块化软体两指夹爪，其掌部集成了一个3D打印的光学触觉传感器（TacTip）。我们提出了一种软抓取策略，包括三个功能：轻接触检测、抓取姿态调整和脱离接触检测，从而使不同形状和尺寸的物体能够被稳定抓取并精确放置，我们使用人造物体和家用物体对此进行了测试。通过依次实施这三个功能，抓取成功率从没有任何功能时的45%逐步提高到使用轻接触检测时的59%、使用抓取姿态调整时的90%以及使用脱离接触检测时的97%，实现了亚毫米级的放置精度。总体而言，这项工作证明了将光学触觉传感器集成到软体夹爪掌部的可行性和实用性，并适用于各种类型的软体操作器。所提出的抓取策略在易碎产品处理和家庭辅助等领域具有潜在应用价值。
英文摘要：
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control complexity and the risk of damaging objects. However, it is challenging to integrate camera-based optical tactile sensing into a soft gripper without compromising the flexibility and adaptability of the fingers, while also ensuring that the precision of tactile perception remains unaffected by passive deformations of the soft structure during object contact. In this paper, we demonstrate a modular soft two-fingered gripper with a 3D-printed optical tactile sensor (the TacTip) integrated in the palm. We propose a soft-grasping strategy that includes three functions: light contact detection, grasp pose adjustment and loss-of-contact detection, so that objects of different shapes and sizes can be grasped stably and placed precisely, which we test with both artificial and household objects. By sequentially implementing these three functions, the grasp success rate progressively improves from 45% without any functions, to 59% with light contact detection, 90% with grasp pose adjustment, and 97% with loss-of-contact detection, achieving a sub-millimeter placement precision. Overall, this work demonstrates the feasibility and utility of integrating optical tactile sensors into the palm of a soft gripper, of applicability to various types of soft manipulators. The proposed grasping strategy has potential applications in areas such as fragile product processing and home assistance.
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。
