Force sensor sample classification

A classification system for classifying sensor samples in a sensor system, the sensor system comprising N force sensors each configured to output a sensor signal, where N≥1, each sensor sample comprising N sample values from the N sensor signals, respectively, the classification system comprising:

• a classifier configured, for each of a series of candidate sensor samples, to perform a classification operation based on the N sample values concerned and generate a classification result which labels the candidate sensor sample as indicative of a defined target event, thereby generating a series of classification results corresponding to the series of candidate sensor samples, respectively;
• a determiner configured to output at least one event determination based on the series of classification results;
• and
• a controller configured to control the classifier and/or the determiner based on one or more controller input signals,
• wherein:
• the classifier is configured for operation at at least one configuration value of a reference signal, the reference signal comprising or derived from at least one controller input signal;
• the controller is configured, based on a current value of the reference signal, to control the classifier and/or the determiner to reduce a difference, being a configuration-related difference, between:
• the classification results and/or the at least one event determination;
• and
• corresponding classification results and/or a corresponding at least one event determination expected when the reference signal has the configuration value in respect of which the classifier is operating,
• the classifier is configured to generate the classification results based on the sensor samples differently for at least two different values of the reference signal to reduce the configuration-related difference and/or a difference, being a classifier-related difference, between:
• the classification results;
• and
• corresponding classification results expected when the reference signal has the configuration value in respect of which the classifier is operating.

A classification system for classifying sensor samples in a sensor system, the sensor system comprising N force sensors each configured to output a sensor signal, where N≥1, each sensor sample comprising N sample values from the N sensor signals, respectively, the classification system comprising:

• a classifier configured, for each of a series of candidate sensor samples, to perform a classification operation based on the N sample values concerned and generate a classification result which labels the candidate sensor sample as indicative of a defined target event, thereby generating a series of classification results corresponding to the series of candidate sensor samples, respectively;
• a determiner configured to output at least one event determination based on the series of classification results;
• and
• a controller configured to control the classifier and/or the determiner based on one or more controller input signals,
• wherein:
• the classifier is configured for operation at at least one configuration value of a reference signal, the reference signal comprising or derived from at least one controller input signal;
• the controller is configured, based on a current value of the reference signal, to control the classifier and/or the determiner to reduce a difference, being a configuration-related difference, between:
• the classification results and/or the at least one event determination;
• and
• corresponding classification results and/or a corresponding at least one event determination expected when the reference signal has the configuration value in respect of which the classifier is operating,
• said at least one event determination is an untransformed event determination;
• the determiner comprises an event determination transformer configured to generate at least one transformed event determination by transforming the at least one untransformed event determination;
• and
• the controller is configured to control the event determination transformer based on the reference signal to reduce the configuration-related difference.