HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor

doi:arXiv:2410.10353

	HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor
	Wu, Yifan; Chen, Yuzhou; Zhu, Zhengying; Qin, Xuhao; Xiao, Chenxi
	2024-10-14
状态	已发表
摘要	Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their highquality feedback. However, a significant gap remains in the development of sensors suitable for humanoid robots, especially five-fingered dexterous hands. One reason is because of the challenges in designing and manufacturing sensors that are compact in size. In this paper, we propose HumanFT, a multimodal visuotactile sensor that replicates the shape and functionality of a human fingertip. To bridge the gap between human and robotic tactile sensing, our sensor features real-time force measurements, high-frequency vibration detection, and overtemperature alerts. To achieve this, we developed a suite of fabrication techniques fora new type of elastomer optimized for force propagation and temperature sensing. Besides, our sensor integrates circuits capable of sensing pressure and vibration. These capabilities have been validated through experiments. The proposed design is simple and cost-effective to fabricate. We believe HumanFT can enhance humanoid robots’ perception by capturing and interpreting multimodal tactile information.
语种	英语
DOI	arXiv:2410.10353
相关网址	查看原文
出处	Arxiv
收录类别	PPRN.PPRN
WOS记录号	PPRN:112583637
WOS类目	Computer Science, Artificial Intelligence
文献类型	预印本
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/445525
专题	信息科学与技术学院信息科学与技术学院_硕士生信息科学与技术学院_本科生信息科学与技术学院_PI研究组_肖晨曦组
通讯作者	Xiao, Chenxi
作者单位	ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai, Peoples R China
推荐引用方式 GB/T 7714	Wu, Yifan,Chen, Yuzhou,Zhu, Zhengying,et al. HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor. 2024.