电子测量与仪器学报

童天宏,梁冬泰,谢林涛.基于触觉感知的新型视触觉传感器设计[J].电子测量与仪器学报,2025,39(2):185-192

基于触觉感知的新型视触觉传感器设计

Design of a new visual and tactile sensor based on tactile perception

DOI：

英文关键词:vision-based tactile sensor reflective layer (membrane) tactile sensing 3D reconstruction pose estimation

基金项目:宁波市“科创甬江2035”科创生态育成计划项目(2024Z062)、宁波市公益性科技计划项目(2022S004)资助

作者	单位
童天宏	宁波大学机械工程与力学学院宁波315211
梁冬泰	宁波大学机械工程与力学学院宁波315211
谢林涛	宁波大学机械工程与力学学院宁波315211

Author	Institution
Tong Tianhong	School of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211，China
Liang Dongtai	School of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211，China
Xie Lintao	School of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211，China

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中文摘要:

针对现有视触觉传感器普遍存在的制造成本高的问题,提出了一种新型的GelSight指尖视触觉传感器设计方案,对视触觉传感器触觉皮肤中的单层弹性体反射膜改进,使用了一种双层的反射膜涂层工艺。在材料选择上,使用了两种不同性质的涂料,分别用于内外反射层的涂层,以通过化学键合的方式将两种不同的反射层紧密结合,实现对细微形变的高灵敏度响应。基于这一工艺技术,设计制造了一种新型的视触觉传感器,并基于光度立体设计了一种重建算法,以实现触觉三维重建。为了验证改进工艺的有效性,对使用该工艺制造的GelSight传感器与其他先进的视触觉传感器在感知分辨率上进行了对比实验。实验结果表明,新型传感器在感知分辨率上优于现有工艺制造的传感器。对具有不同形状和纹理的物体进行了三维重构及位姿估计的实验,结果显示,新型传感器在纹理细节方面具有更优的灵敏度,并且能够对实际物体进行高精度的三维重建和位姿估计。其中,表面接触区域的重建均方误差不超过100 μm,位姿估计的精度可以达到亚毫米级,显示了其在实际应用中的潜力。

英文摘要:

In response to the high manufacturing cost of existing vision-tactile sensors, a novel GelSight fingertip vision-tactile sensor design was proposed, which improved the single-layer elastic reflective film in the tactile skin of the sensor and used a dual-layer reflective coating process. In terms of material selection, two types of coatings with different properties were used for the inner and outer reflective layers, respectively, to bond the two different reflective layers chemically and achieve high sensitivity to subtle deformation. Based on this process technology, a novel vision-tactile sensor was designed and a reconstruction algorithm based on photometric stereo was developed to achieve tactile 3D reconstruction. To verify the effectiveness of the improved process, an experimental comparison of the perception resolution of the GelSight sensors manufactured using the improved process with advanced vision-tactile sensors was conducted. The experimental results showed that the new sensor had better perception resolution than the existing sensors manufactured using the existing process. Experimental tests were conducted to reconstruct the 3D shape and pose of objects with different shapes and textures. The results showed that the new sensor had better sensitivity in texture details and could accurately reconstruct and estimate the 3D shape and pose of real objects with high precision. The reconstruction root mean square error of the contact surface was less than 100 μm, and the positioning accuracy was sub-millimeter level, showing its potential for practical applications.

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