标题： 为交互式工业机器人定制纺织和触觉皮肤 显示英文标题

标题： Customizing Textile and Tactile Skins for Interactive Industrial Robots

摘要： 触觉皮肤由纺织品制成，通过定位接触点和测量接触力来增强机器人与人类的交互。 本文提出了一种快速制造、校准和将这些皮肤部署在工业机器人手臂上的解决方案。 这种新颖的自动化皮肤校准程序将皮肤位置映射到机器人几何结构并校准接触力。 通过在FANUC LR Mate 200id/7L工业机器人上的实验，我们证明了由纺织品制成的触觉皮肤可以有效地用于工业环境中的人机交互，并能在机器人控制和学习中提供独特的机会，使其成为增强机器人感知和交互的有前景的技术。 显示英文摘要

摘要： Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot arms. The novel automated skin calibration procedure maps skin locations to robot geometry and calibrates contact force. Through experiments on a FANUC LR Mate 200id/7L industrial robot, we demonstrate that tactile skins made from textiles can be effectively used for human-robot interaction in industrial environments, and can provide unique opportunities in robot control and learning, making them a promising technology for enhancing robot perception and interaction.