Tactile sensing is a key sensor modality for robots interacting with their surroundings. These sensors provide a rich and diverse set of data signals that contain detailed information collected from contacts between the robot and its environment. The data are however not limited to individual contacts and can be used to extract a wide range of information about the objects in the environment as well as the actions of the robot during the interactions. In this article, we provide an overview of tactile information and its applications in robotics. We present a hierarchy consisting of raw, contact, object, and action levels to structure the tactile information, with higher-level information often building upon lower-level information. We discuss different types of information that can be extracted at each level of the hierarchy. The article also includes an overview of different types of robot applications and the types of tactile information that they employ. Finally we end the article with a discussion for future tactile applications which are still beyond the current capabilities of robots.

中文翻译：

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触觉信息回顾：通过触摸感知和行动

触觉是机器人与其周围环境交互的关键传感器方式。这些传感器提供了一组丰富多样的数据信号，其中包含从机器人与其环境之间的接触中收集的详细信息。然而，数据不仅限于个人接触，还可用于提取有关环境中物体以及机器人在交互过程中的动作的广泛信息。在本文中，我们概述了触觉信息及其在机器人技术中的应用。我们提出了一个由原始、接触、对象和动作级别组成的层次结构来构建触觉信息，较高级别的信息通常建立在较低级别的信息之上。我们讨论可以在层次结构的每个级别提取的不同类型的信息。本文还概述了不同类型的机器人应用程序及其使用的触觉信息类型。最后，我们以对未来触觉应用的讨论结束文章，这些应用仍然超出了机器人当前的能力。