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高分辨率的接触定位和三轴力估计,使用稀疏的应变节点触觉接口设备

Yanyan Wu¹, Hanhan Wu¹, Yifei Han¹

¹School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen 518005, China.

Sensors (Basel, Switzerland)

|February 27, 2026

概括

这项研究引入了一种新的稀疏应变节点触觉接口设备 (SSTID),用于精确的人机交互. 它使用最小的通道实现了精确的3D力和位置传感,降低了成本和复杂性.

科学领域:

机器人技术机器人技术机器人技术
材料科学材料科学材料科学
传感器技术传感器技术

背景情况:

高分辨率的触摸感应对于人机交互和操纵至关重要.
目前的方法在传感面积,通道密度和布线成本方面存在局限性.
由于信号合和非线性,稀疏应变读数在准确估计位置和多轴力方面存在挑战.

研究的目的:

开发一个具有成本效益和可扩展的稀疏触摸接口,用于精确的接触定位和三轴力估计.
为了克服密集的传感器阵列和广泛的校准程序的局限性.
为了使接触位置 (x,y) 和力量 (Fx,Fy,Fz) 能够使用最小数量的应变通道进行可靠的联合估计.

主要方法:

一个稀疏的应变节点触摸接口设备 (SSTID),使用粒子群优化优化了三模块布局.
一个应变节点接触状态解码框架 (SCDF) 使用轻量级的多层感知器.
一个两阶段的模拟到真实训练策略,涉及有限元法 (FEM) 的预训练和少数镜头的真实数据适应.

主要成果:

SSTID成功实现了接触定位 (x,y) 和三轴力估计 (Fx,Fy,Fz),仅使用九个应变通道.
在整个工作空间中,SCDF展示了准确的接触状态解码.
拟议的模拟现实战略促进了有效的模型培训和适应.

结论:

开发的SSTID为高分辨率的触觉传感提供了一个低成本和可扩展的解决方案.
优化的设计和解码框架有效地解决了稀疏应变读取方面的挑战.
这种方法支持在机器人和操纵中更广泛地实施先进的触觉传感.

关键词:

联系人本地化联系人本地化几次拍摄的微调微调.模拟到真实转移的转移稀少的触觉感应器可以感知触觉感应器.三轴力估计三轴力估计

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