SpectraTac: 分散色センシングによるコンパクトなカメラ不要の光学触覚センサ
SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing
カメラを使わず、RGB照明と分散配置した色センサで触覚情報を取得する小型・低コストの光学触覚センサを提案し、3次元力推定と接触領域分類を実現した。
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著者: Hao Wu, Haotian Guo, Yu Feng, Yutong Wang, Yanzhe Wang, Jianshu Zhou
分類: cs.RO
原文アブストラクト
Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low computational overhead remains challenging. This work presents SpectraTac, a compact, camera-free optical tactile sensor that combines active red--green--blue (RGB) illumination with spatially distributed color sensing. Contact deforms a compliant transparent elastomer and modulates its internal light field, producing spatially differentiated changes in color and intensity. Three distributed color sensors capture these responses as low-dimensional spatio-spectral features, avoiding cameras, imaging optics, and high-dimensional image processing. The device measures 19.2 mm in diameter and 4 mm in height, with a material cost below USD~5. A data-driven decoding framework simultaneously estimates three-dimensional (3D) force and the contact region from the optical measurements. For 3D force prediction, the sensor achieved mean absolute errors (MAEs) of 0.161, 0.164, and 0.429 N along the x-, y-, and z-axes, respectively. The nine-region contact-classification accuracy was 99.9%. We further evaluated real-time 3D force tracking and contact-region-based human--machine interaction through an interactive control task. These results indicate that distributed color-resolved optical sensing offers a compact, low-cost alternative to camera-based tactile sensing for robotics, wearable sensing, and interactive systems.