基于模型的结构化软操纵器本体感觉与接触传感解耦策略
A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
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中文总结 AI 辅助
研究软连续体机器人传感难题，提出基于模型策略从通用流体压力传感器解耦信号，用于ITH段，单段试验效果良好，集成到Air-Helix进行演示，证明该方法是实现软机器人并发传感的实用途径。
中文摘要 AI 辅助
软连续体机器人需要嵌入式传感来实现本体感觉和接触检测，然而将传感器集成到稀疏、高度可变形的结构化结构中仍然具有挑战性。我们提出了一种基于模型的策略，该策略从嵌入在软结构化段中的一组通用流体压力传感器中解耦本体感觉信号和接触信号。神经化修剪螺旋体（ITH）的每个段包含六个空气通道，这些通道沿圆周以局部锯齿形模式路由。由于只有三个主要运动自由度（轴向压缩、x方向弯曲、y方向弯曲），六个压力读数形成一个超定系统。分段恒定曲率模型将压力映射到形状，Huber回归识别出残差表明外部接触的异常通道。在单个ITH段上，该方法实现了本体感觉形状估计，相对弯曲误差为0.11±0.02，在178次试验中的接触检测率为97%。我们将八个ITH段集成到肌腱驱动软连续体操纵器Air-Helix中，并展示了探索性的全臂演示，包括示范触觉教学、导纳控制的力调节和触觉物体重建。结果表明，局部流体神经支配与基于模型的冗余分辨率相结合是在结构化软机器人中实现并发本体感觉和接触传感的实用途径。
英文摘要
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains challenging. We present a model-based strategy that decouples proprioceptive and contact signals from a common set of fluidic pressure sensors embedded in a soft architected segment. Each segment of the Innervated Trimmed Helicoid (ITH) contains six air channels routed in a localized zigzag pattern along the circumference. With only three principal kinematic degrees of freedom (axial compression, bending in x, bending in y), the six pressure readings form an overdetermined system. A piecewise constant curvature model maps pressures to shape, and Huber regression identifies outlier channels whose residuals indicate external contact. On a single ITH segment, this approach achieves proprioceptive shape estimation with a relative bending error of 0.11 +/- 0.02 and a contact detection rate of 97% across 178 trials. We integrate eight ITH segments into Air-Helix, a tendon-driven soft continuum manipulator, and present exploratory whole-arm demonstrations that include tactile teaching by demonstration, admittance-controlled force regulation, and tactile object reconstruction. The results suggest that localized fluidic innervation combined with model-based redundancy resolution is a practical path toward concurrent proprioception and contact sensing in architected soft robots.
发表机构
- Embodied AI SA（具身人工智能公司）
- CREATE Lab, STI, EPFL（洛桑联邦理工学院智能系统学院创意实验室）
- Delft University of Technology（代尔夫特理工大学）
- German Aerospace Center（德国航空航天中心）
- MIT Computer Science & Artificial Intelligence Laboratory（麻省理工学院计算机科学与人工智能实验室）
机构由 AI 辅助整理，请以论文原文为准。
