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公开(公告)号：US20230081827A1
公开(公告)日：2023-03-16
申请号：US17553321
申请日：2021-12-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Xiaoran Fan , Daewon Lee , Lawrence Jackel , Richard Howard , Daniel Dongyuel Lee , Ibrahim Volkan Isler
Abstract: A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.
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Patent Agency Ranking
公开(公告)号：US20250091225A1
公开(公告)日：2025-03-20
申请号：US18965244
申请日：2024-12-02
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Xiaoran FAN , Daewon LEE , Lawrence Jackel , Richard Howard , Ibrahim Volkan Isler
Abstract: A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.
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公开(公告)号：US20240295882A1
公开(公告)日：2024-09-05
申请号：US18541161
申请日：2023-12-15
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Adarsh K. KOSTA , Alexis M. Burns , Caleb Escobedo , Siddharth Rupavatharam , Richard E. Howard , Lawrence Jackel , Daewon Lee , Ibrahim Volken Isler
CPC classification number: G05D1/242 , A47L9/009 , A47L9/2805 , A47L9/2852 , G01C21/206 , G05D1/646 , A47L2201/04
Abstract: The present disclosure provides methods, apparatuses, systems, and computer-readable mediums for classifying a region and an intensity of a contact. A method includes obtaining, from a plurality of acoustic sensors provided on an inner surface of a bumper of the apparatus, a combined acoustic signal, the combined acoustic signal being based on an input signal provided to the plurality of acoustic sensors, determining, using a trained machine learning model that has been trained with acoustic signals and corresponding position and intensity information of impacts on a plurality of regions of an outer surface of the bumper, the region of the contact on the bumper with respect to the plurality of regions and the intensity of the contact, based on the combined acoustic signal, and determining a motion of the apparatus based on the region of the contact, the intensity of the contact, and an operating mode of the apparatus.
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公开(公告)号：US12162136B2
公开(公告)日：2024-12-10
申请号：US17553321
申请日：2021-12-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Xiaoran Fan , Daewon Lee , Lawrence Jackel , Richard Howard , Daniel Dongyuel Lee , Ibrahim Volkan Isler
Abstract: A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.
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公开(公告)号：US20240100705A1
公开(公告)日：2024-03-28
申请号：US18239437
申请日：2023-08-29
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Siddharth RUPAVATHARAM , Richard Howard , Daewon Lee , Lawrence Jackel , Caleb Sebastian Escobedo , Ibrahim Volkan Isler
CPC classification number: B25J9/1694 , B25J15/08 , G01B17/00
Abstract: In some embodiments, an apparatus for performing reactive positioning of a robot gripper includes one or more fingers disposed on an end-effector of the robot, a signal processing circuit, a memory storing instructions, and a processor. Each of the one or more fingers includes a transducer configured to generate vibrational energy based on an input signal, and convert an acoustic reflection of the vibrational energy from an object into a voltage signal. The signal processing circuit is configured to provide the input signal to each transducer, and perform signal processing on the voltage signal of each transducer resulting in reflection data. The processor is configured to execute the instructions to perform pre-touch proximity detection on the reflection data, perform grasp positioning on the reflection data, perform contact detection from the reflection data, and provide, to the robot, results of the pre-touch proximity detection, the grasp positioning, and the contact detection.
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公开(公告)号：US20210039884A1
公开(公告)日：2021-02-11
申请号：US16707674
申请日：2019-12-09
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Tarik Tosun , Daewon Lee , Galen Xing , Zixuan Lan , Lawrence Jackel , Sebastian Seung , Daniel Lee
IPC: B65G1/137 , G06N3/08 , G06F16/51 , G06F16/538 , G06N3/04 , G06F16/242 , G06Q10/08
Abstract: An apparatus for controlling a storage system may include: a memory, and a processor configured to: identify a storage command for storing a physical object in the storage system and a description of the physical object; when the physical object is placed in the storage system, store, in the memory, the description of the physical object in association with a storage location in the storage system at which the physical object is placed; identify a retrieval command for retrieving the physical object from the storage system, and perform the retrieval command based on the description and the storage location of the physical object.
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