发表机构
New Jersey Institute of Technology (NJIT)（新泽西理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种基于Velostat的低成本人形手指触觉阵列，实现多指节接触感知，并通过结构优化将恢复时间缩短74%，为抓取操作提供可靠反馈。
AI 中文摘要
人形手需要在整个手指上获得触觉反馈，而不仅仅是指尖，才能正确抓取和操作物体。仅靠视觉和本体感觉无法可靠地提供这些信息，尤其是当手自身的手指遮挡了相机观察抓取的视野时。我们提出了一种用于人形手指的低成本触觉阵列，由Velostat和导电胶带制成。指尖承载七个接触点，包括一个包裹其正面、左侧和右侧面的2x3矩阵，以及指尖处的一个独立接触点。近端和中间指节各承载一个朝前的单接触线。我们通过重复加载和按压-释放测试，测量了传感器的迟滞和释放后的恢复时间。我们还测试了一种受先前工作中类似设计启发的、带有间隙和凸起的柔性3D打印接触结构，并显示其相比平齐接触基线将恢复时间缩短了74%。然后，我们展示了该传感器能够为指尖的不同接触几何形状（平面、边缘、角落）产生不同的激活模式，并在抓握过程中记录所有三个指节的接触。最后，我们讨论了制造变更的局限性，并指出基于软件的补偿是未来更直接修复剩余迟滞的有前景的方法。
英文摘要
Humanoid hands require tactile feedback across the whole finger, not just the fingertip, to grasp and manipulate objects properly. Vision and proprioception alone cannot reliably provide this information, particularly when the hand's own fingers occlude the camera's view of the grasp. We present a low-cost tactile array for a humanoid finger, made from Velostat and conductive tape. The fingertip carries seven contact points including a 2x3 matrix wrapped across its front, left, and right faces, and a separate contact point at the tip. The proximal and middle phalanges each carry a single front-facing contact line. We measure the sensor's hysteresis and recovery time after release, through repeated loading and press-release tests. We also test a compliant, 3D-printed contact structure with a gap and a bump, inspired by similar designs in prior work, and show it cuts recovery time by 74% compared to a flush-contact baseline. We then show the sensor can produce distinct activation patterns for different contact geometries (flat, edge, corner) at the fingertip, and that it registers contact across all three phalanges during a grip. Finally, we discuss the limits of our fabrication changes and point to software-based compensation as a promising way to more directly fix the remaining hysteresis in the future.
CommentsAccepted to be presented at IROS Workshop Touch2Action
