LUMO：设计发光接触形态以实现可重复的全手指接触观测

中文摘要 AI 辅助

低阻抗机器人手指通过关节扭矩报告其受载强度，但相同的扭矩可能来自指尖附近的小力或关节附近的大力。因此，要解析力的大小，必须知道接触发生在手指的哪个位置。LUMO使该位置成为外部可观测的。嵌入式LED照亮柔顺硅胶垫，接触使垫变形，从而使从手指侧面发出的光以由负载作用位置决定的模式变化。由于同一结构也承载接触负载，我们优化其横截面（包括垫轮廓、刚性载体和侧向空隙）以同时实现两种行为。机械上，垫在低预载下顺应，而载体在负载上升时越来越限制进一步变形。光学上，不同接触位置在手指侧面产生分离的响应。该搜索使用刚-软接触仿真、光线追踪和多目标贝叶斯优化。在两种硅胶、六个接触位置以及10毫米和30毫米球形压头下，优化后的形态相对于重新建立接触的变异性，将相邻位置分离度提高了15%至59%。利用已知的LED间距从光学响应估计接触位置，并将其与关节扭矩结合，在931个样本上实现了1.44牛顿的法向力平均绝对误差。在双指手中，抓取过程中多个连杆上同时出现局部侧面响应。

英文摘要

A low-impedance robot finger reports through joint torque how strongly it is loaded, but the same torque can arise from a small force near the fingertip or a large force near the joint. Resolving the force therefore requires knowing where along the finger contact occurred. LUMO makes that location externally observable. Embedded LEDs illuminate a compliant silicone pad, and contact deforms the pad so that light emerging from the finger's side changes in a pattern set by where the load acts. Because the same structure also carries the contact load, we optimize its cross-section, including the pad profile, rigid carrier, and lateral void, for two behaviors at once. Mechanically, the pad conforms under low preload while the carrier increasingly restricts further deformation as load rises. Optically, different contact locations produce separated responses on the finger's side. The search uses rigid--soft contact simulation, ray tracing, and multi-objective Bayesian optimization. Across two silicones, six contact locations, and 10- and 30-mm spherical indenters, the optimized morphologies improve neighboring-location separation relative to variation from re-establishing contact by \(15\)--\(59\%\). Estimating contact location from the optical response using the known LED spacing and combining it with joint torque gives \(1.44~\mathrm{N}\) normal-force MAE over 931 samples. In a two-finger hand, localized side responses appear on several links simultaneously during grasps.

发表机构

• The University of Texas at Austin（德克萨斯大学奥斯汀分校）

机构由 AI 辅助整理，请以论文原文为准。