外观
论文arXiv 2609.224931 个月前
用于剪切感知的分层电子皮肤
原文链接：Layered e-skin for Shear Sensing（arXiv 2609.22493 · 发布日期：2026-09-18）
Layered e-skin for Shear Sensing
面向机器人指尖剪切感知，提出双层FSR阵列结合物理模型与CNN-GRU，并在机器人操作实验中验证三轴力、接触运动和滑移检测。
核心要点
- 机器人指尖需要在高分辨率压力映射外估计剪切力。
- 双层FSR阵列用柔顺晶格弹性体将剪切载荷转为层间位移。
- 物理力矩平衡和CNN-GRU共同由双层输入估计非线性剪切力。
- 双层模型Fx、Fy的R²为0.914和0.944，优于单层基线。
验证范围与局限：验证范围包括机器人操作实验中的剪切力估计、接触运动跟踪和滑移事件检测。
英文摘要 (Abstract)
This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that combines high-resolution pressure mapping with shear-force estimation. A compliant lattice elastomer spacer converts shear loading into a measurable inter-layer displacement, producing relative center-of-pressure (CoP) shifts between layers. A physics-based moment balance links inter-layer CoP displacement to shear force, while an end-to-end CNN--GRU model captures nonlinear effects from load-dependent compression and contact redistribution. This model, with both layers as input, achieves coefficients of determination $R^2 = 0.914$ for $F_x$ and $R^2 = 0.944$ for $F_y$, consistently outperforming single-layer baselines for shear-force estimation. Robotic manipulation experiments show that, for contact-motion tracking, the deep layer tracks the translation and rotation imposed by the robot arm, whereas the superficial layer tracks the slip at the contact surface. Transient changes in the difference between the total pressure responses of the two layers provide the best slip-event detection performance among the tested cues. These results demonstrate that two-layer FSR arrays can provide three-axis force estimation, contact-motion tracking, and slip-event detection beyond conventional normal-force sensing.
作者：Qingzheng Cong, Alexis Devillard, Abu Bakar Dawood, Xinxin Zhang, Wen Fan, Neri Niccolò Dei, Cem Suulker, Kaspar A. Althoefer, Etienne Burdet, Dandan Zhang
来源
本页事实对应的公开页面，以原文为准。
- arXiv 2609.22493：Layered e-skin for Shear Sensing访问 2026-10-21