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

IPC: B25J13/08 ,  B25J9/16 ,  B25J19/02 ,  G06F3/041 ,  G06F3/043

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.

公开(公告)号：US20230330873A1

公开(公告)日：2023-10-19

申请号：US18132791

申请日：2023-04-10

Applicant: SAMSUNG ELECTRONICS CO, Ltd.

Inventor： Siddharth RUPAVATHARAM ,  Xiaoran FAN ,  Daewon LEE ,  Richard HOWARD ,  Lawrence JACKEL ,  Ibrahim Volkan ISLER ,  Daniel LEE

IPC: B25J19/02 ,  B25J9/16

CPC classification number: B25J19/026 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1676 ,  B25J19/028

Abstract: An apparatus for estimating a proximity direction of an obstacle includes an acoustic transmitter attached to a surface of the apparatus; a first acoustic receiver spaced apart from the surface of the apparatus; a second acoustic receiver spaced apart from the surface of the apparatus; and at least one processor configured to: control the acoustic transmitter to generate an acoustic wave along the surface; obtain first and second proximity direction signals based on first and second acoustic wave signals corresponding to the generated acoustic wave; and estimate a proximity direction of the obstacle with respect to the apparatus based on the first and second proximity direction signals.

公开(公告)号：US20220274269A1

公开(公告)日：2022-09-01

申请号：US17406842

申请日：2021-08-19

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Xiaoran FAN ,  Riley William SIMMONS-EDLER ,  Daewon LEE ,  Lawrence JACKEL ,  Daniel Dongyuel LEE ,  Richard HOWARD

IPC: B25J19/02 ,  B25J9/16 ,  G06N3/04 ,  B25J13/08

Abstract: An apparatus for collision avoidance by surface proximity detection includes a plurality of piezoelectric elements disposed adjacent to a surface of an object, a memory storing instructions, and at least one processor configured to execute the instructions to control a first one among the piezoelectric elements to generate an acoustic wave along the surface of the object, and receive, via a second one among the piezoelectric elements, an acoustic wave signal corresponding to the generated acoustic wave. The at least one processor is further configured to execute the instructions to filter the received acoustic wave signal, using a band-pass filter for reducing noise of the received acoustic wave signal, obtain a proximity signal for proximity detection, from the filtered acoustic wave signal, using a linear time-invariant filter, and detect whether an obstacle is proximate to the surface of the object by inputting the obtained proximity signal into a neural network.

公开(公告)号：US20210293918A1

公开(公告)日：2021-09-23

申请号：US17084257

申请日：2020-10-29

Applicant: Samsung Electronics Co., Ltd.

Inventor： Xiaoran FAN ,  Yuan CHEN ,  Dae Won LEE ,  Colin PREPSCIUS ,  Ibrahim Volkan ISLER ,  Lawrence David JACKEL ,  Hyunjune Sebastian SEUNG ,  Daniel Dongyuel LEE

IPC: G01S5/22 ,  B25J19/02

Abstract: A method of collision localization on a robotic device includes obtaining audio signals from a plurality of acoustic sensors spaced apart along the robotic device; identifying, based on a collision being detected, a strongest audio signal; identifying a primary onset time for an acoustic sensor producing the strongest audio signal, the primary onset time being a time at which waves propagating from the collision reach the acoustic sensor producing the strongest audio signal; generating a virtual onset time set, by shifting a calibration manifold, based on the identified primary onset time, the calibration manifold representing relative onset times from evenly spaced marker locations on the robotic device to the plurality of acoustic sensors; determining scores for the marker locations based a standard deviation of elements in the virtual onset time set; and estimating a location of the collision based on a highest score of the determined scores.