SpectraTac：一种具备分布式颜色感知的紧凑型无相机光学触觉传感器
SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing
- National University of Singapore（新加坡国立大学）
- Zhejiang University（浙江大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本研究提出SpectraTac无相机光学触觉传感器，采用分布式颜色感知，实现紧凑低成本，三维力预测误差低、接触分类准确率高，可用于机器人等领域的触觉传感。
AI中文摘要：
触觉传感对于机器人与人机系统中的物理交互至关重要，但将丰富的触觉信息与紧凑硬件、低成本、低计算开销相结合仍具挑战性。本研究提出SpectraTac，一种结合主动红-绿-蓝（RGB）照明与空间分布式颜色感知的紧凑型无相机光学触觉传感器。接触会使柔性透明弹性体变形，调制其内部光场，产生颜色与强度的空间差异化变化；三个分布式颜色传感器将这些响应捕获为低维空间-光谱特征，无需相机、成像光学元件及高维图像处理。该设备直径19.2毫米、高度4毫米，材料成本低于5美元。一种数据驱动解码框架可从光学测量中同时估算三维（3D）力与接触区域。在三维力预测任务中，传感器沿x、y、z轴的平均绝对误差（MAE）分别为0.161、0.164、0.429牛；九区域接触分类准确率达99.9%。研究人员还通过交互式控制任务评估了实时三维力跟踪与基于接触区域的人机交互，结果表明，分布式颜色分辨光学传感可为机器人、可穿戴传感及交互系统提供一种紧凑、低成本的相机式触觉传感替代方案。
英文摘要：
Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low computational overhead remains challenging. This work presents SpectraTac, a compact, camera-free optical tactile sensor that combines active red--green--blue (RGB) illumination with spatially distributed color sensing. Contact deforms a compliant transparent elastomer and modulates its internal light field, producing spatially differentiated changes in color and intensity. Three distributed color sensors capture these responses as low-dimensional spatio-spectral features, avoiding cameras, imaging optics, and high-dimensional image processing. The device measures 19.2 mm in diameter and 4 mm in height, with a material cost below USD~5. A data-driven decoding framework simultaneously estimates three-dimensional (3D) force and the contact region from the optical measurements. For 3D force prediction, the sensor achieved mean absolute errors (MAEs) of 0.161, 0.164, and 0.429 N along the x-, y-, and z-axes, respectively. The nine-region contact-classification accuracy was 99.9%. We further evaluated real-time 3D force tracking and contact-region-based human--machine interaction through an interactive control task. These results indicate that distributed color-resolved optical sensing offers a compact, low-cost alternative to camera-based tactile sensing for robotics, wearable sensing, and interactive systems.
