自适应压缩触觉采样：在可扩展机器人皮肤中实现高时空分辨率
Adaptive Compressive Tactile Subsampling: Enabling High Spatiotemporal Resolution in Scalable Robotic Skin
AI总结：
ACTS通过自适应压缩采样技术，实现高密度触觉感知，提升机器人和可穿戴设备的实时交互与运动控制能力。
摘要：
机器人需要全身、高分辨率的触觉感知，以在非结构化环境中安全操作，实现反射式响应和闭环控制。然而，密集大区域覆盖所需的像素数量限制了大多数触觉阵列的读出率低于100 Hz，阻碍了其在高速任务中的应用。我们提出了自适应压缩触觉采样（ACTS），一种可扩展且数据驱动的方法，通过利用自适应传感器采样和稀疏恢复技术，大大增强传统触觉矩阵。通过自适应地将测量分配到信息丰富的区域，ACTS在现实世界交互中尤其有效于空间稀疏信号。在1024像素触觉传感器阵列（32x32）上测试，ACTS实现了高达1000 Hz的帧率，比传统光栅扫描提高了18倍，且重建误差极小。首次，ACTS使可穿戴、大区域、高密度触觉感知系统成为可能，能够提供高速结果。我们展示了在接触后20毫秒内快速完成物体分类，高速弹体检测，弹跳角度估计，以及软变形跟踪，应用于触觉和机器人领域，均使用灵活、高密度触觉阵列。这些包括高分辨率触觉手套、压力垫和覆盖机器人手臂和人形仿真的全身体配置。我们进一步展示了基于触觉的闭环控制，通过触觉反馈引导金属球在字母上轨迹，通过在完全传感器化的LEAP手执行触觉-only全手反射，以稳定抓握、防止滑动和避免尖锐物体，验证了ACTS在实时交互和运动控制中的应用。ACTS将标准、低成本且稳健的触觉传感器转化为高速系统，使机器人和可穿戴设备在动态环境中实现可扩展、响应和适应的触觉感知。
英文摘要：
Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel counts needed for dense, large-area coverage limit readout rates of most tactile arrays to <100 Hz, hindering their use in high-speed tasks. We present Adaptive Compressive Tactile Subsampling (ACTS), a scalable and data-driven method that greatly enhances traditional tactile matrices by leveraging adaptive sensor sampling and sparse recovery. By adaptively allocating measurements to informative regions, ACTS is especially effective for spatially sparse signals common in real-world interactions. Tested on a 1024-pixel tactile sensor array (32x32), ACTS achieved frame rates up to 1,000 Hz, an 18X improvement over conventional raster scanning, with minimal reconstruction error. For the first time, ACTS enables wearable, large-area, high-density tactile sensing systems that can deliver high-speed results. We demonstrate rapid object classification within 20 ms of contact, high-speed projectile detection, ricochet angle estimation, and soft deformation tracking, in tactile and robotics applications, all using flexible, high-density tactile arrays. These include high-resolution tactile gloves, pressure insoles, and full-body configurations covering robotic arms and human-sized mannequins. We further showcase tactile-based closed-loop control by guiding a metallic ball to trace letters using tactile feedback and by executing tactile-only whole-hand reflexes on a fully sensorized LEAP hand to stabilize grasps, prevent slip, and avoid sharp objects, validating ACTS for real-time interaction and motion control. ACTS transforms standard, low-cost, and robust tactile sensors into high-speed systems enabling scalable, responsive, and adaptive tactile perception for robots and wearables operating in dynamic environments.
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。
