MagCilia：一种具有3D力传感的紧凑型磁纤毛触觉传感器，用于机器人接触感知与抓取反馈

中文摘要 AI 辅助

机器人抓取和表面探索受益于法向力和切向力的同时测量以及通过接触获得的表面信息。在此，我们提出了一种紧凑型磁纤毛触觉传感器（MagCilia），它将柔性磁纤毛结构与霍尔传感器相结合，用于3D力传感。采用准静态有限元分析来研究多方向载荷下的结构变形和磁响应。为了从耦合的磁通道中重建力，我们提出了因果历史融合回归（CHFR），该方法将当前的磁场测量值与其近期变化相结合。按校准记录分组的五折交叉验证得出Fx、Fy和Fz的均方根误差分别为0.40、0.57和0.69 N，相应的决定系数分别为0.93、0.90和0.92。机器人实验展示了在外部扰动下切向力引导的夹持器调整和多轴负载监测。重建力的频域特征在按采集会话分组的五折交叉验证中以99.39%的准确率区分了六种表面类别。在线机器人演示还识别了所有六种测试表面。这些结果表明，使用单个紧凑型触觉单元即可实现3D力重建、抓取反馈和表面识别。

英文摘要

Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact. Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sensing. Quasi-static finite element analysis is used to investigate structural deformation and magnetic responses under multidirectional loading. To reconstruct forces from the coupled magnetic channels, we propose causal history fusion regression (CHFR), which combines current magnetic-field measurements with their recent changes. Five-fold cross-validation grouped by calibration record yields root-mean-square errors of 0.40, 0.57, and 0.69 N for Fx, Fy, and Fz, respectively, with corresponding coefficients of determination of 0.93, 0.90, and 0.92. Robotic experiments demonstrate tangential-force-guided gripper adjustment and multi-axis load monitoring under external perturbations. Frequency-domain features of the reconstructed forces distinguish six surface categories with 99.39% accuracy in three-fold cross-validation grouped by acquisition session. An online robotic demonstration additionally identifies all six tested surfaces. These results demonstrate 3D force reconstruction, grasping feedback, and surface recognition using a single compact tactile unit.

发表机构

• National University of Singapore（新加坡国立大学）
• University of California, Berkeley（加州大学伯克利分校）
• City University of Hong Kong（香港城市大学）
• City University of Hong Kong Shenzhen Research Institute（香港城市大学深圳研究院）

机构由 AI 辅助整理，请以论文原文为准。

相关深度报道

• MagCilia：用于机器人接触感知的三维力磁纤毛触觉传感器