外观
论文arXiv 2609.305061 个月前
用于仿人手多指节感知的触觉传感阵列
原文链接：Tactile Sensing Array for Multi-Phalanx Sensing in Humanoid Hands（arXiv 2609.30506 · 发布日期：2026-09-24）
Tactile Sensing Array for Multi-Phalanx Sensing in Humanoid Hands
针对仿人手全手指触觉缺失，提出Velostat与导电胶带低成本阵列，并在加载、按压释放和抓握接触中验证。
核心要点
- 仿人手抓取操作需要整根手指触觉，视觉和本体感知在遮挡时不可靠。
- 阵列由Velostat和导电胶带制成，指尖含七个触点，近端和中节各有前向接触线。
- 通过重复加载和按压释放测量滞后与恢复时间，并测试带间隙和凸点的柔顺3D打印结构。
- 柔顺结构将恢复时间缩短74%，传感器能区分多种指尖接触几何并记录三指节接触。
验证范围与局限：验证范围为传感器加载与按压释放测试、指尖不同接触几何测试，以及抓握中的三指节接触。
英文摘要 (Abstract)
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.
作者：Neel Adwani, Muhaiminul Islam Akash, Rituja Bhattacharya, Cong Wang
来源
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