公开(公告)号：US09477909B2

公开(公告)日：2016-10-25

申请号：US14151625

申请日：2014-01-09

Applicant: SYNTOUCH, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb

IPC: G06F15/18 ,  G06K9/62 ,  G01B21/30

CPC classification number: G06F19/3443 ,  A61B5/0048 ,  A61B5/0077 ,  A61B5/01 ,  A61B5/6897 ,  G01B21/30 ,  G06F19/00 ,  G06K9/6277 ,  G16H50/70

Abstract: An object investigation and classification system may include an object test system, a data storage system, and a data processing system. The object test system may receive a command to perform at least one action with a test object, perform the at least one action with the test object, and return test information indicative of at least one percept resulting from the at least one action. The data storage system may contain an experience database containing data indicative of multiple classifications and, for each classification, at least one action that was performed with at least one previously-observed reference object having this classification, and at least one percept value that is based in whole or in part on the test information resulting from the at least one action.

Abstract translation: 对象调查和分类系统可以包括对象测试系统，数据存储系统和数据处理系统。 对象测试系统可以接收用于使用测试对象执行至少一个动作的命令，与测试对象执行至少一个动作，以及返回指示至少一个来自至少一个动作的感知的测试信息。 数据存储系统可以包含体验数据库，其包含指示多个分类的数据，并且对于每个分类，使用至少一个先前观察到的具有该分类的参考对象执行的至少一个动作，以及基于该分类的至少一个感知值 全部或部分地由至少一个动作产生的测试信息。

公开(公告)号：US20170011198A1

公开(公告)日：2017-01-12

申请号：US15269408

申请日：2016-09-19

Applicant: SYNTOUCH, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb

IPC: G06F19/00 ,  A61B5/01 ,  A61B5/00 ,  G01B21/30 ,  G06K9/62

CPC classification number: G06F19/3443 ,  A61B5/0048 ,  A61B5/0077 ,  A61B5/01 ,  A61B5/6897 ,  G01B21/30 ,  G06F19/00 ,  G06K9/6277 ,  G16H50/70

Abstract: An object investigation and classification system may include an object test system, a data storage system, and a data processing system. The object test system may receive a command to perform at least one action with a test object, perform the at least one action with the test object, and return test information indicative of at least one percept resulting from the at least one action. The data storage system may contain an experience database containing data indicative of multiple classifications and, for each classification, at least one action that was performed with at least one previously-observed reference object having this classification, and at least one percept value that is based in whole or in part on the test information resulting from the at least one action.

Abstract translation: 对象调查和分类系统可以包括对象测试系统，数据存储系统和数据处理系统。 对象测试系统可以接收用于使用测试对象执行至少一个动作的命令，与测试对象执行至少一个动作，以及返回指示至少一个来自至少一个动作的感知的测试信息。 数据存储系统可以包含体验数据库，其包含指示多个分类的数据，并且对于每个分类，使用至少一个先前观察到的具有该分类的参考对象执行的至少一个动作，以及基于该分类的至少一个感知值 全部或部分地由至少一个动作产生的测试信息。

公开(公告)号：US20140069212A1

公开(公告)日：2014-03-13

申请号：US14021906

申请日：2013-09-09

Applicant: SynTouch, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb ,  Raymond A. Peck ,  Chia-Hsien Lin ,  Blaine Matulevich ,  Vikram Pandit

IPC: G01L1/02

CPC classification number: G01L1/02 ,  G01L5/228

Abstract: A compliant tactile sensor may include sponge-like material, a flexible skin, and a fluid pressure sensor. The flexible skin may have a shape, absorb fluid, compress in response to force applied to the sponge-like material, and decompress and return to its original shape when the force is removed. The flexible skin may cover an outer surface of the sponge-like material. The fluid pressure sensor may sense changes in pressure in fluid that is within the sponge-like material caused by a force applied to the flexible skin.A robotic system may include a movable robotic arm, a compliant tactile sensor on the movable robotic arm that senses contact between the compliant tactile sensor and an object during movement of the movable robotic arm and that cushions the effect of that contact, and a reflex system that causes the moveable robotic arm to move in response to commands.

Abstract translation: 柔性触觉传感器可以包括海绵状材料，柔性皮肤和流体压力传感器。 柔性皮肤可以具有形状，吸收流体，响应于施加到海绵状材料上的力而被压缩，并且当力被去除时解压缩并返回到其原始形状。 柔性皮肤可以覆盖海绵状材料的外表面。 流体压力传感器可以感测由施加到柔性皮肤的力引起的海绵状材料内的流体中的压力变化。 机器人系统可以包括可移动机器人臂，可移动机器人手臂上的顺应触觉传感器，其在可移动机器人手臂的运动期间感测柔顺触觉传感器与物体之间的接触，并且缓冲该接触的效果，以及反射系统 这导致可移动机器人手臂响应于命令而移动。

公开(公告)号：US09690906B2

公开(公告)日：2017-06-27

申请号：US15269408

申请日：2016-09-19

Applicant: SYNTOUCH, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb

IPC: G06F17/00 ,  G06F19/00 ,  G01B21/30 ,  G06K9/62 ,  A61B5/00 ,  A61B5/01

CPC classification number: G06F19/3443 ,  A61B5/0048 ,  A61B5/0077 ,  A61B5/01 ,  A61B5/6897 ,  G01B21/30 ,  G06F19/00 ,  G06K9/6277 ,  G16H50/70

Abstract: An object investigation and classification system may include an object test system, a data storage system, and a data processing system. The object test system may receive a command to perform at least one action with a test object, perform the at least one action with the test object, and return test information indicative of at least one percept resulting from the at least one action. The data storage system may contain an experience database containing data indicative of multiple classifications and, for each classification, at least one action that was performed with at least one previously-observed reference object having this classification, and at least one percept value that is based in whole or in part on the test information resulting from the at least one action.

公开(公告)号：US20160025615A1

公开(公告)日：2016-01-28

申请号：US14796647

申请日：2015-07-10

Applicant: SynTouch, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb ,  Blaine Matulevich ,  Rahman Davoodi

IPC: G01N19/00

CPC classification number: G01N19/00 ,  G01B5/28

Abstract: A system may measure, store, and recall at least one tactile property of multiple objects. The system may include one or more biomimetic tactile sensors that have mechanical properties and sensor modalities that are similar to those of human fingertips. The system may perform at least one exploratory movement on one of the objects by moving the biomimetic tactile sensors over a surface of the object. The at least one exploratory movement may be of a type that a human would normally perform on the object to discern the at least one tactile property and may have one or more movement parameters. Each of the movement parameters may fall within a range of movement parameters that would normally be exhibited if a human performed the exploratory movement for the at least one tactile property. The system may determine and store a value of the at least one tactile property based on information provided by the biomimetic tactile sensors in response to the exploratory movement. The determining may use an analytical function that specifies a mathematical relationship between the value and the information provided by the biomimetic tactile sensors that is based on physical phenomena, rather than extracted from data sets by an adaptive algorithm. The system may repeat the same exploratory movement performance, the same determining the value using the same analytical function, and the same storing the determined value for each of the other objects.

Abstract translation: 系统可以测量，存储和调用多个对象的至少一个触觉属性。 该系统可以包括具有类似于人类指尖的机械特性和传感器模态的一个或多个仿生触觉传感器。 该系统可以通过将仿生触觉传感器移动到对象的表面上来对其中一个对象执行至少一次探索运动。 所述至少一个探索运动可以是人类通常在对象上执行以辨别至少一个触觉特性并且可以具有一个或多个移动参数的类型。 运动参数中的每一个可以落在通常在人执行至少一个触觉特性的探索运动时通常将展现的移动参数的范围内。 该系统可以基于由仿生触觉传感器响应于探索性运动提供的信息来确定和存储该至少一个触觉属性的值。 该确定可以使用分析函数，该分析函数指定基于物理现象的仿生触觉传感器提供的值与信息之间的数学关系，而不是通过自适应算法从数据集中提取。 系统可以重复相同的探索性运动性能，使用相同的分析功能确定值相同，并且存储每个其他对象的确定值。

公开(公告)号：US09080918B2

公开(公告)日：2015-07-14

申请号：US14021906

申请日：2013-09-09

Applicant: SynTouch, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb ,  Raymond A. Peck ,  Chia-Hsien Lin ,  Blaine Matulevich ,  Vikram Pandit

IPC: G01L1/02 ,  G01L5/22

CPC classification number: G01L1/02 ,  G01L5/228

Abstract: A compliant tactile sensor may include sponge-like material, a flexible skin, and a fluid pressure sensor. The flexible skin may have a shape, absorb fluid, compress in response to force applied to the sponge-like material, and decompress and return to its original shape when the force is removed. The flexible skin may cover an outer surface of the sponge-like material. The fluid pressure sensor may sense changes in pressure in fluid that is within the sponge-like material caused by a force applied to the flexible skin. A robotic system may include a movable robotic arm, a compliant tactile sensor on the movable robotic arm that senses contact between the compliant tactile sensor and an object during movement of the movable robotic arm and that cushions the effect of that contact, and a reflex system that causes the moveable robotic arm to move in response to commands.

Abstract translation: 柔性触觉传感器可以包括海绵状材料，柔性皮肤和流体压力传感器。 柔性皮肤可以具有形状，吸收流体，响应于施加到海绵状材料上的力而被压缩，并且当力被去除时解压缩并返回到其原始形状。 柔性皮肤可以覆盖海绵状材料的外表面。 流体压力传感器可以感测由施加到柔性皮肤的力引起的海绵状材料内的流体中的压力变化。 机器人系统可以包括可移动机器人臂，可移动机器人手臂上的顺应触觉传感器，其在可移动机器人手臂的运动期间感测柔顺触觉传感器与物体之间的接触，并且缓冲该接触的效果，以及反射系统 这导致可移动机器人手臂响应于命令而移动。

公开(公告)号：US20140195195A1

公开(公告)日：2014-07-10

申请号：US14151625

申请日：2014-01-09

Applicant: SYNTOUCH, LLC

Inventor： Jeremy A. Fishel ,  Gerald E. Loeb

IPC: G01N19/00 ,  G06F17/18

CPC classification number: G06F19/3443 ,  A61B5/0048 ,  A61B5/0077 ,  A61B5/01 ,  A61B5/6897 ,  G01B21/30 ,  G06F19/00 ,  G06K9/6277 ,  G16H50/70

Abstract: An object investigation and classification system may include an object test system, a data storage system, and a data processing system. The object test system may receive a command to perform at least one action with a test object, perform the at least one action with the test object, and return test information indicative of at least one percept resulting from the at least one action. The data storage system may contain an experience database containing data indicative of multiple classifications and, for each classification, at least one action that was performed with at least one previously-observed reference object having this classification, and at least one percept value that is based in whole or in part on the test information resulting from the at least one action. The data processing system may: a) for each of multiple different classifications, compute or receive an initial prior probability that a test object falls within the classification; b) determine at least one action that should be performed with the test object to obtain at least one percept about the test object that is likely to enable the classification of the test object to be more accurately determined based on the initial prior probabilities and the data within the experience database; c) cause the object test system to perform the at least one action with the test object; d) receive test information from the object test system indicative of at least one percept resulting from the at least one action with the test object; e) compute at least one percept value; f) for each of multiple different classifications, determine a posterior probability that the test object falls within the classification based on the initial prior probability, the at least one percept value, and data within the experience database; g) determine whether any of the posterior probabilities meets or exceeds a threshold; h) if none of the posterior probabilities meet or exceed the threshold, repeat b) through i), substituting the posterior probabilities determined in f) for the initial prior probabilities in b); and/or i) when one or more of the posterior probabilities meets or exceeds the threshold, output information indicative of one or more of the classifications that correspond to the one or more posterior probabilities that meets or exceeds the threshold.