Moir\'eTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moir\'e Pattern Amplification

原文アブストラクト

Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \textbf{Moir\'eTac}, a dual-mode sensor that generates dense interference patterns via overlapping micro-gratings within a transparent architecture. When two gratings overlap with misalignment, they create moir\'e patterns that amplify microscopic deformations. The design preserves optical clarity for vision tasks while producing continuous moir\'e fields for tactile sensing, enabling simultaneous 6-axis force/torque measurement, contact localization, and visual perception. We combine physics-based features (brightness, phase gradient, orientation, and period) from moir\'e patterns with deep spatial features. These are mapped to 6-axis force/torque measurements, enabling interpretable regression through end-to-end learning. Experimental results demonstrate three capabilities: force/torque measurement with R^2 > 0.98 across tested axes; sensitivity tuning through geometric parameters (threefold gain adjustment); and vision functionality for object classification despite moir\'e overlay. Finally, we integrate the sensor into a robotic arm for cap removal with coordinated force and torque control, validating its potential for dexterous manipulation.