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Sensing multi-directional forces at superresolution using taxel value isoline theory

Author

Listed:
  • Huanbo Sun

    (Max Planck Institute for Intelligent Systems
    Yale University
    Peking University)

  • Adam Spiers

    (Max Planck Institute for Intelligent Systems
    Imperial College London)

  • Hyosang Lee

    (Max Planck Institute for Intelligent Systems
    University of Stuttgart)

  • Jonathan Fiene

    (Max Planck Institute for Intelligent Systems)

  • Georg Martius

    (Max Planck Institute for Intelligent Systems
    Eberhard Karl University of Tübingen)

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.

Suggested Citation

  • Huanbo Sun & Adam Spiers & Hyosang Lee & Jonathan Fiene & Georg Martius, 2025. "Sensing multi-directional forces at superresolution using taxel value isoline theory," Nature Communications, Nature, vol. 16(1), pages 1-12, December.
    • Handle: RePEc:nat:natcom:v:16:y:2025:i:1:d:10.1038_s41467-025-63230-7
    DOI: 10.1038/s41467-025-63230-7
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