# TacHair：触觉接触分布引导的机器人头发抚摸与感知在线校正

> 原文链接：https://robotics.hellobike.com/papers/2026-10-07-2610-10637
> 频道：papers | 更新日期：2026-10-07 | 标签：arxiv, cs.RO
> 核心摘要：TacHair用触觉接触分布引导在线校正，在真实机器人头发抚摸试验中提升接触保持与成功率。

# TacHair：触觉接触分布引导的机器人头发抚摸与感知在线校正

::: v-pre
> 原文链接：[TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception](https://arxiv.org/abs/2610.10637)（arXiv 2610.10637 · 发布日期：2026-10-07）

**TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception**

TacHair用触觉接触分布引导在线校正，在真实机器人头发抚摸试验中提升接触保持与成功率。

## 核心要点

- 可变形头发会在末端执行器上漂移，使局部接触调节变得困难。
- 将高分辨率触觉观测表示为空间头发接触分布，用于在线校正。
- 视觉触觉模仿策略生成名义抚摸动作，残差模块校正局部接触偏差。
- 525次真机试验显示成功率和接触保持提升；演示、代码、数据集已开放。

**验证范围与局限**：验证限于真实机器人在五种头部几何和三种头发条件下的头发抚摸试验。

## 英文摘要 (Abstract)

Hair stroking is common in daily grooming and personal care, and is also widely used in hair-product evaluation, motivating robots with similar physical interaction capabilities. Existing robotic hair-care and surface-following methods mainly rely on trajectory planning, compliance, force regulation, or tactile-conditioned policies, but deformable hair can remain in contact while gradually drifting across the end-effector, making local interaction difficult to regulate. We propose TacHair, a tactile contact-distribution guided online correction framework that represents high-resolution tactile observations as a spatial hair-contact distribution. A visuotactile imitation policy generates the nominal stroking motion, while a separately trained residual module corrects local contact deviations, separating task progression from contact recovery. We evaluate TacHair in 525 real-robot trials across five head geometries and three hair conditions. A successful stroke requires both sufficient task progression and contact maintenance; our method improves success from 42.9% to 62.3% and contact maintenance from 59.4% to 88.0% over the same visuotactile policy without correction. These results demonstrate spatial tactile contact distributions as an effective feedback representation for contact-preserving interaction with deformable and visually occluded surfaces. Demos, code, and datasets are available at https://tachair.github.io.

作者：Ruiyi Hu, Yongqiang Zhao, Daniel Bak, Yupeng Wang, Xuyang Zhang, Shan Luo
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## 原始参考来源 (Sources)

- [arXiv 2610.10637：TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception](https://arxiv.org/abs/2610.10637)