双モード触覚電子皮膚：触覚知覚とフィードバックを統合した双方向ヒューマンロボットインタラクション
Dual-modal Tactile E-skin: Enabling Bidirectional Human-Robot Interaction via Integrated Tactile Perception and Feedback
磁気触覚センシングと振動フィードバックを統合した双モード電子皮膚を開発し、物体認識や微細重量測定などの双方向触覚インタラクションを実現した。
著者: Shilong Mu, Runze Zhao, Zenan Lin, Yan Huang, Shoujie Li, Chenchang Li, Xiao-Ping Zhang, Wenbo Ding
分類: cs.RO, eess.SP
原文アブストラクト
To foster an immersive and natural human-robot interaction, the implementation of tactile perception and feedback becomes imperative, effectively bridging the conventional sensory gap. In this paper, we propose a dual-modal electronic skin (e-skin) that integrates magnetic tactile sensing and vibration feedback for enhanced human-robot interaction. The dual-modal tactile e-skin offers multi-functional tactile sensing and programmable haptic feedback, underpinned by a layered structure comprised of flexible magnetic films, soft silicone, a Hall sensor and actuator array, and a microcontroller unit. The e-skin captures the magnetic field changes caused by subtle deformations through Hall sensors, employing deep learning for accurate tactile perception. Simultaneously, the actuator array generates mechanical vibrations to facilitate haptic feedback, delivering diverse mechanical stimuli. Notably, the dual-modal e-skin is capable of transmitting tactile information bidirectionally, enabling object recognition and fine-weighing operations. This bidirectional tactile interaction framework will enhance the immersion and efficiency of interactions between humans and robots.
