Taxel-based tactile sensor
AssigneeHonda Motor Co., Ltd.
InventorsHongyu Li, Nawid Jamali, Soshi Iba
Life of this patent
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Abstract
A method for a taxel-based tactile sensor system includes receiving a set of taxel data having a subset of tactile data for an object and a subset of contact surface data for the object. The method also includes encoding the tactile data into a tactile embedding with a tactile encoder, and encoding the contact surface data into a surface embedding with a surface encoder. The method also includes computing a matrix of proximity values based on the tactile data encoded in the tactile embedding and contact surface data encoded in the surface embedding, and generating a tactile representation for the taxel data based on the proximity values.
Claims20
A method for a taxel-based tactile sensor system, the method comprising:
- receiving a set of taxel data having a subset of tactile data for an object and a subset of contact surface data for the object, wherein the subset of tactile data is generated by the taxel-based tactile sensor system contacting a surface of the object, and the subset of contact surface data includes a representation of a geometry of the surface of the object;
- encoding the tactile data into a tactile embedding with a tactile encoder;
- encoding the contact surface data into a surface embedding with a surface encoder;
- computing a matrix of proximity values based on the tactile data encoded in the tactile embedding and the contact surface data encoded in the surface embedding;
- and
- generating a tactile representation for the taxel data based on the proximity values.
A tactile sensor system comprising:
- a tactile sensor configured to contact an object and generate a set of taxel data having a subset of tactile data for the object and a subset of contact surface data for the object, wherein the subset of tactile data is generated by the taxel-based tactile sensor system contacting a surface of the object, and the subset of contact surface data includes a representation of a geometry of the surface of the object;
- and
- a processor configured to:
- receive the set of taxel data from the tactile sensor;
- encode the tactile data into a tactile embedding with a tactile encoder;
- encode the contact surface data into a surface embedding with a surface encoder;
- compute a matrix of proximity values based on the tactile data encoded in the tactile embedding and the contact surface data encoded in the surface embedding;
- and
- generate a tactile representation for the taxel data based on the proximity values.
A non-transitory computer readable storage medium storing instructions that, when executed by a computer having a processor, causes the processor to perform a method, the method comprising:
- receiving a set of taxel data having a subset of tactile data for an object and a subset of contact surface data for the object, wherein the subset of tactile data is generated by the taxel-based tactile sensor system contacting a surface of the object, and the subset of contact surface data includes a representation of a geometry of the surface of the object;
- encoding the tactile data into a tactile embedding with a tactile encoder;
- encoding the contact surface data into a surface embedding with a surface encoder;
- computing a matrix of proximity values based on the tactile data encoded in the tactile embedding and the contact surface data encoded in the surface embedding;
- and
- generating a tactile representation for the taxel data based on the proximity values.
Dependencies are inferred from the claim text.