Sensing multi-directional forces at superresolution using taxel value isoline theory
File(s)
Published version
Author(s)
Sun, Huanbo
Spiers, Adam
Lee, Hyosang
Fiene, Jonathan
Martius, Georg
Type
Journal Article
Abstract
Robots can benefit from touch perception for enhanced interaction. Interaction involves tactile sensing devices, contact objects, and complex directional force motions (normal and shear) in between. We introduce a comprehensive theory unifying them to advance sensor design, explain shear-induced performance drops, and suggest application scenarios. Our theory, based on sensor isolines, achieves superresolution sensing with sparse units, avoiding dense layouts. Through structural analysis of the sensor perception field, force sensitivity, and contact object effects, we also explore the force direction influences: normal, tangential shear, and radial shear forces. The model predicts an inherent accuracy reduction under shear forces compared to pure normal forces. Validation used Barodome, a 3D sensor predicting contact locations and decoupling shear/normal forces. Its performance confirmed the significant impact of shear forces, with observed drops (0.5 mm) closely matching theoretical predictions (0.33 mm). This theory provides valuable guidance for future tactile sensor design and advanced robotic touch systems.
Date Issued
2025-08-28
Date Acceptance
2025-08-07
Citation
Nature Communications, 2025, 16
ISSN
2041-1723
Publisher
Nature Portfolio
Journal / Book Title
Nature Communications
Volume
16
Copyright Statement
© The Author(s) 2025 Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
License URL
Identifier
https://www.ncbi.nlm.nih.gov/pubmed/40877290
Publication Status
Published
Coverage Spatial
England
Article Number
8031
Date Publish Online
2025-08-28