Accurate estimation of interaction forces is crucial for achieving fine, dexterous control in robotic systems. Although tactile sensor arrays offer rich sensing capabilities, their effective use has been limited by challenges such as calibration complexities, nonlinearities, and deformation. In this paper, we tackle these issues by presenting a novel method for obtaining 3D force estimation using tactile sensor arrays. Unlike existing approaches that focus on specific or decoupled force components, our method estimates full 3D interaction forces across an array of distributed sensors, providing comprehensive real-time feedback. Through systematic data collection and model training, our approach overcomes the limitations of prior methods, achieving accurate and reliable tactile-based force estimation. Besides, we integrate this estimation in a real-time control loop, enabling implicit, stable force regulation that is critical for precise robotic manipulation. Experimental validation on the Allegro robot hand with uSkin sensors demonstrates the effectiveness of our approach in real-time control, and its ability to enhance the robot's adaptability and dexterity.

翻译：精确估计交互力对于实现机器人系统的精细灵巧控制至关重要。尽管触觉传感器阵列提供了丰富的传感能力，但其有效应用一直受到校准复杂性、非线性和变形等挑战的限制。本文通过提出一种利用触觉传感器阵列进行三维力估计的新方法来解决这些问题。与现有专注于特定或解耦力分量的方法不同，我们的方法在分布式传感器阵列上估计完整的三维交互力，提供全面的实时反馈。通过系统的数据收集和模型训练，我们的方法克服了先前方法的局限性，实现了准确可靠的基于触觉的力估计。此外，我们将此估计集成到实时控制回路中，实现了对精确机器人操作至关重要的隐式、稳定的力调节。在配备uSkin传感器的Allegro机器人手上进行的实验验证证明了我们方法在实时控制中的有效性，及其增强机器人适应性和灵巧性的能力。