论文标题
带有微透镜阵列（MLA）的基于薄格式的触觉传感器
A Thin Format Vision-Based Tactile Sensor with A Micro Lens Array (MLA)
论文作者
论文摘要
基于视觉的触觉传感器已在机器人技术领域进行了广泛的研究，以进行高空间分辨率和与机器学习算法的兼容性。但是，当前使用的传感器成像系统庞大地限制了其进一步的应用。在这里，我们提出了一个基于微镜头阵列（MLA）的Vison系统，以实现具有高触觉传感性能的传感器包装厚度较低的格式。多个微机械的微透镜单元覆盖了整个弹性接触层，并提供了缝制的透明触觉图像，从而实现了高空间分辨率，厚度为5 mm。热回流和软光刻方法确保了微晶状体的均匀球形曲线和光滑的表面。光学和机械表征都证明了传感器的稳定成像和出色的触觉传感，并具有精确的3D触觉信息，例如具有超紧凑的结构的位移映射和力分布。
Vision-based tactile sensors have been widely studied in the robotics field for high spatial resolution and compatibility with machine learning algorithms. However, the currently employed sensor's imaging system is bulky limiting its further application. Here we present a micro lens array (MLA) based vison system to achieve a low thickness format of the sensor package with high tactile sensing performance. Multiple micromachined micro lens units cover the whole elastic touching layer and provide a stitched clear tactile image, enabling high spatial resolution with a thin thickness of 5 mm. The thermal reflow and soft lithography method ensure the uniform spherical profile and smooth surface of micro lens. Both optical and mechanical characterization demonstrated the sensor's stable imaging and excellent tactile sensing, enabling precise 3D tactile information, such as displacement mapping and force distribution with an ultra compact-thin structure.
