一种用于增强灵巧操作的机器人手多模态触觉指尖设计
A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation
AI总结：
提出一种低成本、紧凑的多模态触觉指尖设计，集成应变式与接触式麦克风传感器，在灵巧操作任务中单独或结合视觉实现高成功率，如100%精确取杯。
摘要：
触觉传感在提升操作精度和多功能性方面具有巨大潜力，但由于传感器成本高、制造与集成困难，以及难以从信号中提取富有表现力和可靠的信息，其在机器人手中的应用仍然有限。在本工作中，我们提出了一种低成本、易于制造、适应性强且紧凑的机器人手指尖设计，该设计集成了多模态触觉传感器。我们使用应变式传感器来捕捉静态力，并使用接触式麦克风传感器来测量接触过程中的高频振动。这些触觉传感器被集成到一个紧凑的设计中，传感器占用面积最小，且所有传感器都位于指尖内部，因此不易因交互而直接磨损。通过传感器特性表征，我们表明应变式传感器能够在0-5 N范围内提供可重复的二维平面力测量，而接触式麦克风传感器具有区分接触材料属性的能力。我们将我们的设计应用于三个灵巧操作任务，这些任务从零视觉遮挡到完全视觉遮挡不等。鉴于触觉传感器读数的表现力和可靠性，我们表明不同的触觉传感模态可以在操作的不同阶段灵活使用，单独或与视觉观测相结合，以实现改进的任务性能。例如，我们可以精确地计数并从一叠纸杯中取出所需数量的纸杯，成功率达到100%，而仅依靠视觉很难实现这一点。
英文摘要：
Tactile sensing is critical for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting expressive and reliable contact information. In this work, we present a low-cost, easy-to-make, adaptable, and compact fingertip design for robotic hands that integrates multi-modal tactile sensors. We use strain gauge sensors to capture static forces and a contact microphone sensor to measure high-frequency vibrations during contact. These tactile sensors are integrated into a compact design with a minimal sensor footprint. From sensor characterization, we show that strain gauge sensors provide repeatable 3D force measurements in the 0-5~N range and the contact microphone sensor can captures distinct vibrotactile signatures associated with different material types. We evaluate our design with three types of manipulation tasks, including slip-aware closed-loop grasping to handle a wide range of objects, cup counting and unstacking with precise contact localization, and box selection and opening with hidden material identification. Given the expressiveness and reliability of tactile sensor readings, we show that different tactile sensing modalities can be used flexibly in manipulation, solely or together to achieve improved task performance. The design will be open-sourced on the project website: https://sites.google.com/view/tactilefingertip.
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。
