TacClip：一种不覆盖指腹的夹持式传感器，用于测量动态接触力

中文摘要 AI 辅助

TacClip是一种最小化妨碍的可穿戴设备，用于记录由接触力和振动引起的指尖变形。它可以与视觉或手套式手部追踪系统结合使用，这些系统让指尖保持裸露，并提供动态接触交互的测量，同时保持指腹暴露，使用户保留对纹理、摩擦、温度和细微表面特征的自然感知。信号由嵌入在覆盖指甲上的小型塑料夹中的光纤布拉格光栅（FBG）产生。可选地，为配合基于视觉的追踪，聚酰亚胺条上的额外FBG可以补充基于相机的姿态估计。在手指按压测试中，TacClip在0至8牛顿的范围内估计力的大小，典型误差低于0.5牛顿。在布料处理和胶带边缘查找的测试中，我们表明它能够捕捉探索性滑动过程中产生的振动和动态事件。由于没有电子元件，TacClip还可以在水下使用，同时保持裸指接触。

英文摘要

TacClip is a minimally encumbering wearable device for recording fingertip deformation caused by contact forces and vibrations. It can be combined with vision- or glove-based hand tracking systems that leave the fingertips uncovered and provides a measure of dynamic contact interactions, while leaving the finger pads exposed so that the user retains natural sensitivity to texture, friction, temperature, and fine surface features. The signal is produced by a Fiber Bragg Grating (FBG) embedded on a small plastic clip mounted over the fingernail. Optionally, for use with vision-based tracking, additional FBGs on polyimide strips can complement camera-based pose estimation. In finger pressing tests, TacClip estimates the force magnitude with typical errors below $0.5~\mathrm{N}$ over a $0$--$8~\mathrm{N}$ range. In tests of cloth handling and tape edge finding, we show that it captures the vibrations and dynamic events generated during exploratory sliding. With no electronics, TacClip can also be used submerged in water, while preserving bare finger contact.

发表机构

• Stanford University（斯坦福大学）
• Ant Group（蚂蚁集团）

机构由 AI 辅助整理，请以论文原文为准。