发表机构
Czech Technical University in Prague; Eindhoven University of Technology（布拉格捷克技术大学; 埃因霍温理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出一种3D打印的保形EIT触觉皮肤，通过增材制造工艺实现几何适配，在弯曲原型上18个接触点平均定位误差6mm，可减轻人形机器人触觉覆盖的形态重设计负担。
AI 中文摘要
全身触觉传感是在接触丰富的人类环境中运行的人形机器人的必要前提，但传统的触觉传感器阵列（taxel arrays）在表面积、布线复杂度和机器人特定曲率方面的扩展性较差。我们提出一种通过几何适配的增材制造工艺制备的保形电阻断层成像（electrical impedance tomography, EIT）触觉皮肤。柔性导电TPU层形成连续传感域，接触诱导的导电贴片耦合产生边界电压变化，使用一步高斯-牛顿EIT求解器进行重构。我们首先表征了分层结构的机电设计空间，表明低电阻接触增强贴片和多孔导电TPU传感层可在保持可打印性的同时提高灵敏度。随后我们在平面原型、弯曲U形原型和定性iCub人脸形状几何结构上验证接触定位。该弯曲传感器在18个接触位置上实现了6mm的平均定位误差，且无需监督后处理。这些结果表明，增材制造的断层成像皮肤可减轻人形机器人触觉覆盖的特定形态重新设计负担，并为以人为中心部署的大面积接触传感提供实用途径。
英文摘要
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring complexity, and robot-specific curvature. We present a conformal electrical impedance tomography tactile skin fabricated through a geometry-adaptable additive-manufacturing workflow. A flexible conductive TPU layer forms a continuous sensing domain, while contact-induced coupling with conductive patches produces boundary voltage changes that are reconstructed using a one-step Gauss-Newton EIT solver. We first characterize the electromechanical design space of the layered structure and show that low-resistance contact-enhancement patches and a porous conductive TPU sensing layer improve sensitivity while preserving printability. We then validate contact localization on a planar prototype, a curved U-shaped prototype, and a qualitative iCub-face-shaped geometry. The curved sensor achieves a mean localization error of 6 mm over 18 contact positions without supervised post-processing. These results suggest that additively manufactured tomographic skins can reduce the morphology-specific redesign burden for humanoid tactile coverage and provide a practical route toward large-area contact sensing for human-centered deployment.
CommentsSubmitted to IEEE Humanoids
