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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：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：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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