流体神経支配格子による多用途で耐久性のある触覚センサ
Fluidically Innervated Lattices Make Versatile and Durable Tactile Sensors
3Dプリントしたエラストマー格子内の空気チャネルの圧力変化を検出する触覚センサを開発し、接触位置・力の予測や環境探索、耐久性を実証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Annan Zhang, Miguel Flores-Acton, Andy Yu, Anshul Gupta, Maggie Yao, Daniela Rus
分類: cs.RO, cs.LG, cs.SY, eess.SY
原文アブストラクト
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this paper, we introduce a passive soft robotic fingertip with integrated tactile sensing, fabricated using a 3D-printed elastomer lattice with embedded air channels. This sensorization approach, termed fluidic innervation, transforms the lattice into a tactile sensor by detecting pressure changes within sealed air channels, providing a simple yet robust solution to tactile sensing in robotics. Unlike conventional methods that rely on complex materials or designs, fluidic innervation offers a simple, scalable, single-material fabrication process. We characterize the sensors' response, develop a geometric model to estimate tip displacement, and train a neural network to accurately predict contact location and contact force. Additionally, we integrate the fingertip with an admittance controller to emulate spring-like behavior, demonstrate its capability for environment exploration through tactile feedback, and validate its durability under high impact and cyclic loading conditions. This tactile sensing technique offers advantages in terms of simplicity, adaptability, and durability and opens up new opportunities for versatile robotic manipulation.
