金属超声波波导作为用于接触定位、力估计和材料类别识别的分布式触觉传感平台

中文摘要 AI 辅助

触觉传感对机器人与现实世界交互至关重要，当前解决方案在传感面积和系统复杂性间存在权衡。本文研究金属超声波波导作为从单个近端换能器完全询问的分布式触觉传感器。使用圆柱压头，我们表征了对具有不同力和接触材料的单点和多点接触的声学响应。对于单点压痕，通过反射与透射系数之比的线性关系（F = a * R/T）很好地捕获了所施加的力，在所有九种测试材料中（R2 >= 0.95）。校准斜率a与材料的有效接触模量密切相关（对数-对数皮尔逊r = -0.98）。发现反射能量分配是与接触材料特性相关的与负载无关的参数，能够独立于力进行材料分类。对于双压头实验，从波导信号中恢复了两个接触力，并且与参考称重传感器测量结果非常吻合（接触1，R2 = 0.97；接触2，R2 = 0.95）。该方法扩展到二维金属板，证实了接触定位和材料相关效应。总体而言，这些结果验证了金属波导作为分布式触觉传感的强大平台，为接触物体提供接触定位、力估计和材料类别识别。

英文摘要

Tactile sensing is central to how robotic systems interact with the real world, yet current solutions face a tradeoff between sensing area and system complexity. This work investigates metallic ultrasound waveguides as distributed tactile sensors fully interrogated from a single proximal transducer. Using cylindrical indenters, we characterized the acoustic response to single and multi-point contacts with varying forces and contact materials. For single point indentation, the applied force was well captured by a linear relationship with the ratio of the reflection to transmission coefficients (F = a * R/T) across all nine tested materials (R2 >= 0.95). The calibration slope, a, correlated strongly with the material's effective contact modulus (log--log Pearson r=-0.98). The reflected energy partition was found to be a load-independent parameter related to the contacting material's properties, enabling material class differentiation independent of force. For the two-indenter experiment, both contact forces were recovered from the waveguide signal and were in close agreement with reference load cell measurements (contact 1, R2 = 0.97; contact 2, R2=0.95). The approach was extended to two-dimensional metallic sheets, confirming both contact localization and material-dependent effects. Overall, these results validate metallic waveguides as a robust platform for distributed tactile sensing, providing contact localization, force estimation, and material-class discrimination for the contacting body.

发表机构

• Division of Engineering and Applied Science, Caltech（加州理工学院工程与应用科学部）

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