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<p>Integrating human-level haptic perception into soft grippers promises safer robotic grasping and improved human–robot interaction. While visual-tactile sensors promise high perception resolution at low cost, they often sacrifice compliance to maintain optical stability, hindering non-planar contact perception. We present FlexiRay, a soft gripper that integrates visual-tactile sensing with the Fin Ray Effect to achieve high compliance, broad sensory coverage, and multimodal capability. Combining a multi-layered flexible substrate, an optimized multi-mirror optical system, and a decoupled deep learning framework, FlexiRay replicates five of the seven human tactile modalities, including force, contact location, texture, temperature, and proprioception, with a single camera. It achieves 0.17 N force accuracy, 0.96 mm spatial resolution, 0.24 mm proprioception accuracy, and 1.17 °C temperature accuracy while maintaining over 90% effective coverage. FlexiRay empowers compliant grasping, safe collaboration, and intelligent teleoperation, underscoring its potential to propel service robotics toward enhanced intelligence, safety, and real-world utility.</p>

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Flexible robotic hand harnesses large deformations for full-coverage human-like multimodal haptic perception

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年12月14日

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  • Yanzhe Wang,
  • Haotian Guo,
  • Hao Wu,
  • Huixu Dong

摘要

Integrating human-level haptic perception into soft grippers promises safer robotic grasping and improved human–robot interaction. While visual-tactile sensors promise high perception resolution at low cost, they often sacrifice compliance to maintain optical stability, hindering non-planar contact perception. We present FlexiRay, a soft gripper that integrates visual-tactile sensing with the Fin Ray Effect to achieve high compliance, broad sensory coverage, and multimodal capability. Combining a multi-layered flexible substrate, an optimized multi-mirror optical system, and a decoupled deep learning framework, FlexiRay replicates five of the seven human tactile modalities, including force, contact location, texture, temperature, and proprioception, with a single camera. It achieves 0.17 N force accuracy, 0.96 mm spatial resolution, 0.24 mm proprioception accuracy, and 1.17 °C temperature accuracy while maintaining over 90% effective coverage. FlexiRay empowers compliant grasping, safe collaboration, and intelligent teleoperation, underscoring its potential to propel service robotics toward enhanced intelligence, safety, and real-world utility.