胡俊1  李仲萱2  齐佳明3  吴鸿敏4  周鹏1

（1.大湾区大学先进工程学院，广东 东莞 523000

2.香港大学计算机学院，香港 999077

3.东北林业大学机电工程学院，黑龙江 哈尔滨 150000

4.广东省科学院智能制造研究所，广东 广州 510070）

摘要：触觉感知是机器人实现精细操纵与人机交互的关键技术。该文综述了近年来机器人操纵领域的触觉传感器发展现状，介绍了触觉传感器的工作原理、特点与应用实例，比较各类传感器的特点、局限及适用范围；阐述常用的触觉感知仿真平台与数据集；总结触觉感知技术在抓取与稳定控制、接触/碰撞检测、滑移检测、物体重建等典型操纵任务中的应用情况；最后，探讨了触觉感知技术在机器人操纵领域的发展趋势。

关键词：机器人操纵；触觉感知；触觉传感器；多模态控制；机器人抓取

中图分类号：TP242.6           文献标志码：A          文章编号：1674-2605(2025)05-0001-15

DOI：10.12475/aie.20250501                                 开放获取

A Review of Tactile Perception Technologies for Robotic Manipulation

HU Jun1  LI Zhongxuan2  QI Jiaming3  WU Hongmin4  ZHOU Peng1

(1.School of Advanced Engineering, Great Bay University, Dongguan 523000, China

2.Department of Computer Science, University of Hong Kong, Hong Kong 999077, China

3.College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150000, China

4.Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou 510070, China)

Abstract: Tactile sensing is a key technology for robots to achieve dexterous manipulation and human-robot interaction. This article reviews the recent advancements in tactile sensors for robotic manipulation, introduces the working principles, characteristics, and application examples of tactile sensors, and compares the features, limitations, and application scope of various sensor types. It elaborates on commonly used simulation platforms and datasets for tactile perception. The application of tactile perception technology in typical manipulation tasks, such as grasping and stabilization control, contact/collision detection, slip detection, and object reconstruction, is summarized. Finally, the development trends of tactile perception technology in the field of robotic manipulation are discussed.

Keywords: robotic manipulation; tactile sensing; tactile sensors; multiple model control; robot gripping