发表机构
MIT CSAIL（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。AI 中文总结
本研究开发了一种耐用型基于视觉的触觉指尖，其耐用性较商用传感器提升两个数量级以上，可通过更换传感模块实现高要求机器人应用中的可维护触觉传感。
AI 中文摘要
目前可用的商用基于视觉的触觉传感器能提供丰富的接触信息，但易受磨损和重复集中载荷影响，限制了其在高要求机器人应用中的使用。本研究提出一种耐用触觉指尖，包含带有非色素纹理薄热塑性聚氨酯保护膜的软硅胶凝胶，以及可更换的传感模块。通过两种加速实验室程序评估耐用性：转鼓打磨测试和以每分钟45次循环施加39.2 N（4.0 kgf）的重复探针测试。在规定打磨条件下，所开发传感器约2-3小时后达到保护膜破裂终点；在重复探针测试中，所有9个开发的传感器在测试终止时仍可正常使用：7个在5天后，1个在6天后，1个在8天后。商用GelSight Mini和DIGIT样本在约24-30秒打磨时间和25-35分钟重复加载后出现初始表面膜破裂。所开发传感器的损伤进展缓慢，在测试终点对触觉成像几乎无干扰。这些观察结果表明，在规定加速条件下，耐用性提升了两个数量级以上。结合更高的耐用性、渐进式退化和快速模块更换，为高要求机器人应用提供了一种可维护的基于视觉的触觉传感实用方法。
英文摘要
Currently available commercial vision-based tactile sensors provide rich contact information but remain vulnerable to abrasion and repeated concentrated loading, limiting their use in demanding robotic applications. This work presents a durable tactile fingertip comprising a soft silicone gel with a nonpigmented, textured, thin thermoplastic-polyurethane protective film and a replaceable sensing cartridge. Durability was evaluated using two accelerated laboratory procedures: a rotating-drum sanding test and a repetitive probe test applying 39.2 N (4.0 kgf) at 45 cycles per minute. Under the defined sanding conditions, the developed sensor reached the protective-film rupture endpoint after approximately 2-3 hours. During repetitive probe testing, all nine developed sensors remained functionally usable when testing was discontinued: seven after 5 days, one after 6 days, and one after 8 days. Commercial GelSight Mini and DIGIT specimens exhibited initial surface-film rupture after approximately 24-30 seconds of sanding and 25-35 minutes of repetitive loading. Damage to the developed sensor progressed gradually and produced little interference with tactile imaging at the test endpoints. These observations establish durability improvements of more than two orders of magnitude under the defined accelerated conditions. Combining increased durability, gradual degradation, and rapid cartridge replacement offers a practical approach to maintainable vision-based tactile sensing for demanding robotic applications.
Comments22 pages, 20 figures
