Patent Document ID: 8504500
Application ID: 12847822
Patent Status: 1

Claim One:
1. A computer-implemented method for three-dimensional object reconstruction using an array of tactile sensors, said method comprising: (a) receiving sensory data from said array of tactile sensors with respect to contact with an object in a reference coordinate system, i) wherein bases of said tactile sensors are arranged on a surface, ii) wherein said array of tactile sensors and said surface, as a unit, are actuatable with unconstrained motion, wherein said surface is actuatable in at least one degree of freedom and wherein said tactile sensors are independently actuatable with respect to said surface, and iii) wherein said array of tactile sensors is to contact said object with more than one degree of freedom during sensing to generate said sensory data; (b) processing said sensory data using a neural network to estimate a coordinate for each contact point between said array of tactile sensors and said object; (c) reconstructing a three-dimensional morphology of said object based on the sensory data processed using said neural network; and (d) outputting the three-dimensional morphology of said object.