For elastomer-based tactile sensors, represented by visuotactile sensors, routine calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been shown to be important for force reconstruction. However, the reliance on existing in-situ calibration methods for accurate force measurements limits their cost-effective and flexible applications. This article proposes a new in-situ calibration scheme that relies only on comparing contact deformation. Based on the detailed derivations of the normal contact and torsional contact theories, we designed a simple and low-cost calibration device, EasyCalib, and validated its effectiveness through extensive finite element analysis. We also explored the accuracy of EasyCalib in the practical application and demonstrated that accurate contact distributed force reconstruction can be realized based on the mechanical parameters obtained. EasyCalib balances low hardware cost, ease of operation, and low dependence on technical expertise and is expected to provide the necessary accuracy guarantees for wide applications of visuotactile sensors in the wild.

翻译：对于以视觉触觉传感器为代表的基于弹性体的触觉传感器，机械参数（杨氏模量和泊松比）的常规标定已被证明对力重建至关重要。然而，现有原位标定方法对精确力测量的依赖性限制了其低成本与灵活应用。本文提出一种仅依赖接触形变对比的新型原位标定方案。基于法向接触与扭转接触理论的详细推导，我们设计了一种简单且低成本的标定装置EasyCalib，并通过广泛的有限元分析验证了其有效性。此外，我们探究了EasyCalib在实际应用中的精度，证明基于所获取的机械参数可实现精确的接触分布力重建。EasyCalib在低硬件成本、操作简便性及对技术专长的低依赖性之间取得平衡，有望为视觉触觉传感器在野外环境中的广泛应用提供必要的精度保障。