Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research. Most existing works model the tactile sensor as a rigid multi-body, which is incapable of reflecting the elastic property of the tactile sensor as well as characterizing the fine-grained physical interaction between two objects. In this paper, we propose Elastic Interaction of Particles (EIP), a novel framework for tactile emulation. At its core, EIP models the tactile sensor as a group of coordinated particles, and the elastic theory is applied to regulate the deformation of particles during the contact process. The implementation of EIP is conducted from scratch, without resorting to any existing physics engine. Experiments to verify the effectiveness of our method have been carried out on two applications: robotic perception with tactile data and 3D geometric reconstruction by tactile-visual fusion. It is possible to open up a new vein for robotic tactile simulation, and contribute to various downstream robotic tasks.

翻译：触摸感测在机器人感知和操作中起着重要作用。 为了克服数据收集中真实世界的局限性, 模拟虚拟环境中的触觉反应作为机器人研究的渴望方向。 大多数现有作品将触觉传感器作为僵硬多体模型, 无法反映触觉感应器的弹性特性, 也无法反映两个对象之间的细微物理互动特征。 在本文中, 我们提出“ 粒子的弹性互动( EIP) ”, 即一个用于触觉模拟的新型框架。 在其核心, EIP 模型是作为协调粒子组的触动感应器, 以及弹性理论被用于调节接触过程中粒子的变形。 EIP 实施从零开始, 无需使用任何现有的物理引擎。 验证我们方法有效性的实验是在两种应用上进行的: 机器人感知触觉数据, 和 3D 通过触摸- 视觉融合进行3 几何测量再造。 有可能打开机器人触觉模拟的新血管, 并推进各种下游任务 。