论文标题
GTAC：具有皮肤样异构力反馈的仿生触觉传感器
GTac: A Biomimetic Tactile Sensor with Skin-like Heterogeneous Force Feedback for Robots
论文作者
论文摘要
人手的触觉感应能力对于进行日常活动至关重要。同时通过集成到手中的机械感受器来感知正常和剪力力，从而使人类能够完成日常任务，例如抓住精致的物体。在本文中，我们设计并制造了一种新型的仿生触觉传感器，具有皮肤状的异质性，同时感知正常和剪切接触力。它通过组合外部层（压电传感器）和固有层（HALL传感器）来模仿机械感受器的多层，以便它可以对接触力方向，位置和联合级别扭矩进行估计。通过集成我们的传感器，机器人抓手可以在指尖获得接触力反馈。因此，机器人可以执行具有挑战性的任务，例如使用镊子和握住鸡蛋。这种有见地的传感器设计可以在机器人的不同区域进行定制和应用，并为其提供异质的力传感，并有可能支持机器人技术在获取皮肤般的触觉反馈方面。
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like grasping delicate objects. In this paper, we design and fabricate a novel biomimetic tactile sensor with skin-like heterogeneity that perceives normal and shear contact forces simultaneously. It mimics the multilayers of mechanoreceptors by combining an extrinsic layer (piezoresistive sensors) and an intrinsic layer (a Hall sensor) so that it can perform estimation of contact force directions, locations, and joint-level torque. By integrating our sensors, a robotic gripper can obtain contact force feedback at fingertips; accordingly, robots can perform challenging tasks, such as tweezers usage, and egg grasping. This insightful sensor design can be customized and applied in different areas of robots and provide them with heterogeneous force sensing, potentially supporting robotics in acquiring skin-like tactile feedback.
