公开(公告)号：US20240257304A1

公开(公告)日：2024-08-01

申请号：US18004800

申请日：2022-06-15

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Qian LIU ,  Bing WU ,  Qiang ZHANG ,  Xiaopeng WEI

IPC: G06T3/4053 ,  B25J9/16 ,  G06T3/4046

CPC classification number: G06T3/4053 ,  B25J9/163 ,  B25J9/1694 ,  G06T3/4046

Abstract: The present disclosure relates to a tactile pattern Super Resolution (SR) reconstruction method and acquisition system, which belong to the field of tactile perception. First, a High Resolution (HR) tactile pattern sample is obtained by using a Low Resolution (LR) tactile sensor; then, a deep learning-based tactile SR model is trained by using a tactile SR data set; and finally, reconstructing the tactile data of a contact surface to be measured as an SR tactile pattern by using the tactile SR model. The present disclosure uses the existing taxel-based LR tactile sensor and adopts a deep learning-based tactile SR reconstruction technology, which can effectively restore the shape of the contact surface, improves the resolution of the tactile sensor, and meanwhile, maintains the characteristics of the sensor being light, flexible, and easy to be integrated into devices, such as a robot.