A tactile perception method with flexible grating structural color  

作　　者：Yuze Qiu Chunfei Yan Yan Zhang Shengxuan Yang Xiang Yao Fawen Ai Jinjin Zheng Shiwu Zhang Xinge Yu Erbao Dong 

机构地区：[1]Key Laboratory of Precision and Intelligent Chemistry,University of Science and Technology of China,Hefei 230026,China [2]Institute of Humanoid Robots,Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei 230026,China [3]Department of Biomedical Engineering,City University of Hong Kong,Hong Kong 999077,China

出　　处：《National Science Review》2025年第1期223-236,共14页国家科学评论(英文版)

基　　金：supported by the National Natural Science Foun-dation of China(61773358);Research Grants Council of the Hong Kong Special Administrative Region(RFS2324-1S03).

摘　　要：Affordable high-resolution cameras and state-of-the-art computer vision techniques have led to the emergence of various vision-based tactile sensors.However,current vision-based tactile sensors mainly depend on geometric optics or marker tracking for tactile assessments,resulting in limited performance.To solve this dilemma,we introduce optical interference patterns as the visual representation of tactile information for flexible tactile sensors.We propose a novel tactile perception method and its corresponding sensor,combining structural colors from flexible blazed gratings with deep learning.The richer structural colors and finer data processing foster the tactile estimation performance.The proposed sensor has an overall normal force magnitude accuracy of 6 mN,a planar resolution of 79μm and a contact-depth resolution of 25μm.This work presents a promising tactile method that combines wave optics,soft materials and machine learning.It performs well in tactile measurement,and can be expanded into multiple sensing fields.

关 键 词：force and tactile sensing structural color vision-based tactile sensor deep learning wave optics 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]