发表机构
School of Computer Science and Technology, Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳）计算机科学与技术学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出TECDAR方法，通过6D动态触觉传感结合扩展卡尔曼滤波器，实现瞬态外部接触的快速精准定位，平均精度约7 mm，可用于机器人精细操作等场景。
AI 中文摘要
精细操作常涉及被抓持物体与环境间的瞬态、细微碰撞。人类手部凭借卓越的触觉灵敏度可轻松定位这些接触，但机器人系统往往缺乏必要的分辨率以获取运动规划所需信息，导致操作笨拙甚至任务失败。本文提出瞬态外部接触检测与测距（TECDAR）方法，这是一种简单、快速且高效的被抓持物体外部接触检测与测距方法。设计的夹具尖端采用动态触觉传感，利用单个2.5×3 mm的6D惯性测量单元，该传感器以7 kHz采样率捕捉亚毫秒级的尖端变形，仅需84 KB/s的数据流。高带宽与紧凑的数据量使系统能快速检测并定位被抓持物体与周围环境间的接触。具体而言，通过扩展卡尔曼滤波器融合触觉数据与机器人位姿，可实现外部接触的快速精准定位，在180 ms内达到毫米级精度。实验结果表明，该系统在线接触和点接触定位任务中，平均定位精度约为7 mm。此外，这种近乎即时的定位使机器人能在毫秒级尺度上修正轨迹，通过纯触觉探索与绘图实现精密工具操作及复杂环境感知。我们设想此类技术将推动机器人学在需精细操作的领域发展，包括精密装配、手术辅助及触觉主导环境中的自主探索。项目页面：this http URL
英文摘要
Delicate manipulation often involves transient and subtle collisions between a grasped object and the environment. While the human hand localizes these contacts effortlessly thanks to superior tactile sensitivity, robotic systems often lack the requisite resolution to acquire the information necessary for motion planning, resulting in clumsy manipulation or even task failure. Here, we propose transient extrinsic contact detection and ranging (TECDAR), a simple yet fast and efficient method for detecting and ranging extrinsic contact of grasped objects. Our design of gripper tips employs dynamic tactile sensing leveraging a single 2.5$\times$3 mm 6D inertial measurement unit. The sensor captures sub-millisecond tip deformations at a 7 kHz sampling rate, but operating on a data stream of only 84 KB/s. High bandwidth and compact data size enable the system to rapidly detect and localize contact between grasped objects and their surroundings. Specifically, fusing tactile data with robot pose via an extended Kalman filter enables fast and precise localization of extrinsic contact, reaching millimeter-level accuracy within 180 ms. Experimental results demonstrate that the system achieves an average localization accuracy of approximately 7\,mm in both line-contact and point-contact localization tasks. Furthermore, this near-instantaneous localization enables the robot to rectify its trajectory on a millisecond scale, facilitating precise tool manipulation and enhanced perception of complex environments purely through tactile exploration and mapping. We envision such techniques advancing the future of robotics across domains requiring delicate manipulation, including precision assembly, surgical assistance, and autonomous exploration in touch-dominant environments. Project page: humitlab.github.io/TECDAR/
