基于光学测量的触觉硬度估计研究综述

Review on Tactile Hardness Estimation Based on Optical Measurement

对基于光学测量的触觉传感器在柔性目标的硬度估计中的应用和发展方向进行梳理。首先以Shore硬度为例对柔性目标硬度测量的基本原理进行介绍。进一步地,对基于光学测量的触觉传感的基本原理进行分析,并对其在硬度估计中的可行性进行探讨。然后,对基于该类型传感器的硬度估计在不同领域中的应用进行了总结。最后,讨论了基于光学测量的触觉传感器在硬度估计中的发展方向。目前的研究表明,基于光学测量的触觉传感器因其分辨率高、延迟低、感知信息丰富等方面的优势,在柔性目标的硬度估计方面展现出巨大的潜力,然而,在灵巧手操作、医疗诊断等应用层面的研究仍存在较大的发展空间。

The application and development direction of tactile sensors based on optical measurement in hardness estimation of flexible targets are summarized.Firstly,Shore hardness is used as an example to introduce the basic principles of flexible target hardness measurement.Furthermore,the principle of tactile sensor based on optical measurement and its feasibility in hardness estimation are discussed.Then,the applications in different fields of hardness estimation based on optical measurement are summarized.Finally,the future research direction of tactile sensors based on optical measurement in hardness estimation is discussed.Current research indicates that tactile sensors based on optical measurement demonstrate significant potential in hardness estimation for flexible targets due to their advantages such as high resolution,low latency and rich perceptual information.However,there is still ample room for research in applications such as dexterous manipulation and medical diagnosis.