论文标题
柔软，圆形，高分辨率的触觉指尖传感器，用于灵巧的机器人操纵
Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation
论文作者
论文摘要
高分辨率的触觉传感器通常是笨重的，并且具有形状曲线，使其可用于操纵。当使用诸如灵巧多指手指的指尖之类的传感器时，这一点变得很重要，其中箱形或平面指尖限制了可用的光滑操纵策略。高分辨率光学传感器（例如Gelsight）到目前为止由于对照明几何形状的约束而被限制为相对平坦的几何形状。在此，我们展示了如何构造一种圆形的指尖，该圆形指尖利用一种光管以方向照明。我们的传感器可以替换Allegro手的标准圆形指尖。它们可以捕获接触表面的高分辨率图，并可用于支持各种灵活的操纵任务。
High resolution tactile sensors are often bulky and have shape profiles that make them awkward for use in manipulation. This becomes important when using such sensors as fingertips for dexterous multi-fingered hands, where boxy or planar fingertips limit the available set of smooth manipulation strategies. High resolution optical based sensors such as GelSight have until now been constrained to relatively flat geometries due to constraints on illumination geometry.Here, we show how to construct a rounded fingertip that utilizes a form of light piping for directional illumination. Our sensors can replace the standard rounded fingertips of the Allegro hand.They can capture high resolution maps of the contact surfaces,and can be used to support various dexterous manipulation tasks.
