外观
论文arXiv 2609.082141 个月前
TacClip：一种不覆盖指腹即可测量动态接触力的夹扣式传感器
原文链接：TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads（arXiv 2609.08214 · 发布日期：2026-09-08）
TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads
TacClip用嵌入指甲夹扣的FBG记录指尖形变，在不遮挡指腹的情况下测量动态接触，并在按压、布料和胶带测试中验证。
核心要点
- 针对手部跟踪中指尖需裸露的场景，TacClip在保留自然触感的同时记录接触力和振动。
- 其信号来自安装在指甲上的小型塑料夹扣内嵌FBG，也可加装FBG条辅助视觉位姿估计。
- 手指按压测试中，TacClip在0--8 N范围内估计力大小的典型误差低于0.5 N。
- 在布料操作和胶带边缘寻找中，它能捕捉探索性滑动产生的振动和动态事件，且无电子元件可水下使用。
验证范围与局限：验证范围包括手指按压、布料操作和胶带边缘寻找测试。
英文摘要 (Abstract)
TacClip is a minimally encumbering wearable device for recording fingertip deformation caused by contact forces and vibrations. It can be combined with vision- or glove-based hand tracking systems that leave the fingertips uncovered and provides a measure of dynamic contact interactions, while leaving the finger pads exposed so that the user retains natural sensitivity to texture, friction, temperature, and fine surface features. The signal is produced by a Fiber Bragg Grating (FBG) embedded on a small plastic clip mounted over the fingernail. Optionally, for use with vision-based tracking, additional FBGs on polyimide strips can complement camera-based pose estimation. In finger pressing tests, TacClip estimates the force magnitude with typical errors below $0.5~\mathrm{N}$ over a $0$--$8~\mathrm{N}$ range. In tests of cloth handling and tape edge finding, we show that it captures the vibrations and dynamic events generated during exploratory sliding. With no electronics, TacClip can also be used submerged in water, while preserving bare finger contact.
作者：Yuqian Ye, Hao Li, Jingxi Xu, Haojun Feng, Seongheon Hong, Mark R. Cutkosky
来源
本页事实对应的公开页面，以原文为准。