发表机构
Harbin Institute of Technology, Shenzhen; State Key Laboratory of Smart Farm Technologies and Systems（哈尔滨工业大学（深圳）; 智慧农场技术与系统全国重点实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种仿生指尖，通过多层机械梯度和指纹形态设计，结合高灵敏度惯性测量单元，实现远程振动触觉渲染，并揭示设计对触觉透明度的影响，为远程操作指尖设计提供原则。
AI 中文摘要
高保真触觉反馈对于机器人远程操作至关重要，能够实现精确操控和关键决策。尽管仿生指尖传感器可以捕捉表面纹理特征，但其设计如何影响所渲染反馈的触觉透明度仍知之甚少。本文提出了一种仿生指尖，复制了人类手指的多层机械梯度和指纹形态，并嵌入高灵敏度惯性测量单元以捕捉纹理引起的振动，用于远程振动触觉渲染。通过时间和频谱分析以及涵盖三个感知维度的用户研究，将三种变体与人类指尖进行比较，建立了从指尖设计经信号特征到触觉透明度的传递链。多层机械梯度在信号强度和纹理特征表示方面带来了最明显的改进，而较硬的皮肤层以牺牲特征表示为代价放大了振动强度。感知维度依赖于不同的信号属性：粗糙度依赖于能量缩放，颗粒度依赖于频谱形状，重复性依赖于特征峰表示。这些发现为机器人远程操作中特定应用的指尖提供了设计原则。
英文摘要
High-fidelity tactile feedback is essential for robotic teleoperation, enabling precise manipulation and critical decision-making. While biomimetic fingertip sensors can capture surface-texture features, how their design shapes the tactile transparency of rendered feedback remains poorly understood. This paper presents a biomimetic fingertip replicating the human finger's multilayer mechanical gradient and fingerprint morphology, with an embedded high-sensitivity inertial measurement unit capturing texture-induced vibrations for remote vibrotactile rendering. Three variants are compared with the human fingertip through temporal and spectral analyses and a user study spanning three perceptual dimensions, establishing a transmission chain from fingertip design through signal characteristics to tactile transparency. The multilayer mechanical gradient yields the clearest improvements in signal intensity and texture-feature representation, whereas a stiffer skin layer amplifies vibration intensity at the expense of feature representation. The perceptual dimensions draw on distinct signal attributes: roughness on energy scaling, granularity on spectral shape, and repetitivity on characteristic-peak representation. These findings offer design principles for application-specific fingertips in robotic teleoperation.
