SATac: 温度・圧力・せん断を同時知覚する熱ルミネッセンス触覚センサ
SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear
アルミン酸ストロンチウムの熱ルミネッセンスとボロノイ図解析を組み合わせ、温度・圧力・せん断を同時に計測できる視覚ベースの多モード触覚センサを提案した。
著者: Ziwu Song, Ran Yu, Xuan Zhang, Kit Wa Sou, Shilong Mu, Dengfeng Peng, Xiao-Ping Zhang, Wenbo Ding
分類: cs.RO
原文アブストラクト
Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better interact with the environment. In this work, we propose a novel multimodal vision-based tactile sensor, SATac, which can simultaneously perceive information of temperature, pressure, and shear. SATac utilizes thermoluminescence of strontium aluminate (SA) to sense a wide range of temperatures with exceptional resolution. Additionally, the pressure and shear can also be perceived by analyzing Voronoi diagram. A series of experiments are conducted to verify the performance of our proposed sensor. We also discuss the possible application scenarios and demonstrate how SATac could benefit robot perception capabilities.
