通过多模态传感与软材料提升3D打印人工皮肤的感知覆盖率与顺应性
机器人学
2026-04-29 v1
摘要
3D打印人工皮肤是实现全身触觉和接近觉覆盖的可扩展方法，但先前的实现仅限于单模态传感和刚性材料。为了提升3D打印人工皮肤的实际可用性，我们提出了一种混合飞行时间与自电容(SC)传感皮肤，展示了多模态传感集成、用于吸收冲击和感知压力的柔软顺应性覆盖层，以及打印导电迹线与外部电子设备之间的精简电气接口。我们通过在FR3机械臂上部署六个包含40个感知元素的人工皮肤单元，证明了结合ToF和SC模态能够利用顺应性覆盖层实现接触检测、场景重建和与压力相关的触觉响应。
引用
@article{arxiv.2604.25563,
title = {Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials},
author = {Carson Kohlbrenner and Caleb Escobedo and Sayak Ray and Alexander Dickhans and Anna Soukhovei and Nickolaus Jackoski and Lyle Antieau and Alessandro Roncone},
journal= {arXiv preprint arXiv:2604.25563},
year = {2026}
}
备注
This work was accepted at the "Towards Large-Area Tactile Sensing Skins: From Scalable Materials to Embodied Robotic Perception" workshop at the International Conference on Robotics and Automation (ICRA) 2026