LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation

2026-09-16

AI Summary

为了解决机器人手指接触位置难以确定的问题，LUMO通过嵌入LED和可变形硅胶垫设计了一种新型接触形态，结合光线变化模式与关节扭矩来估计接触位置及力大小。

Abstract

A low-impedance robot finger reports through joint torque how strongly it is loaded, but the same torque can arise from a small force near the fingertip or a large force near the joint. Resolving the force therefore requires knowing where along the finger contact occurred. LUMO makes that location externally observable. Embedded LEDs illuminate a compliant silicone pad, and contact deforms the pad so that light emerging from the finger's side changes in a pattern set by where the load acts. Because the same structure also carries the contact load, we optimize its cross-section, including the pad profile, rigid carrier, and lateral void, for two behaviors at once. Mechanically, the pad conforms under low preload while the carrier increasingly restricts further deformation as load rises. Optically, different contact locations produce separated responses on the finger's side. The search uses rigid--soft contact simulation, ray tracing, and multi-objective Bayesian optimization. Across two silicones, six contact locations, and 10- and 30-mm spherical indenters, the optimized morphologies improve neighboring-location separation relative to variation from re-establishing contact by \(15\)--\(59\%\). Estimating contact location from the optical response using the known LED spacing and combining it with joint torque gives \(1.44~\mathrm{N}\) normal-force MAE over 931 samples. In a two-finger hand, localized side responses appear on several links simultaneously during grasps.

Problem

• robot finger
• joint torque
• contact location
• force distribution
• observation

Innovation

• LUMO
• Contact Location Observation
• Optical Response
• Bayesian Optimization
• Soft-Rigid Contact Simulation