671 results about "Tactile sensor" patented technology

The invention relates to the technical field of robot decision making, and provides a robot multi-modal fusion autonomous decision making method and system based on a large language model.The method comprises the steps that a robot obtains multi-modal environment information through a visual sensor, a touch sensor, an auditory sensor and a laser radar which are carried by the robot; performing preliminary filtering and noise reduction processing on the original sensor data, and synchronously recording all the sensor data by timestamps; performing space-time semantic alignment on the preprocessed multi-modal data, mapping pixel coordinates of a target in a visual target coordinate quantization original image to a robot coordinate system, performing uncertainty evaluation on a multi-modal signal through a dynamic Bayesian network, and taking entropy or variance as an uncertainty quantitative evaluation index. According to the method, the information quality is improved from a data fusion source, accurate and reliable basic support is provided for subsequent decision making, and decision making errors caused by data deviation are greatly reduced.

The invention discloses a joint denoising method for robot visual motion prediction, and the method comprises the steps: constructing a unified generative model through fusing an image and a depth map collected by a depth camera, motion data collected by CAN line communication of a Piper mechanical arm, and a tactile image collected by a Gelsight Mini tactile sensor; the method comprises two steps of data acquisition and input coding, and joint denoising and generation: firstly, multi-modal data are coded into low-dimensional potential representation, and then future images, depth maps, tactile data and robot actions are cooperatively predicted through a joint denoising framework based on Transform. A mask self-attention mechanism is innovatively introduced, information interaction between modes is dynamically adjusted, action generation is guided through tactile feedback, and the force control precision is improved. The model adopts a de-noising diffusion probability loss function to jointly optimize multi-modal prediction, so that the output consistency is ensured. According to the method, the robustness and the accuracy of flexible operation of the robot are remarkably improved.

The invention discloses a five-finger bionic dexterous hand with distributed touch perception and a control method. The five-finger bionic dexterous hand comprises a palm part; fingers of the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit respectively comprise a three-stage series flexion and extension mechanism which is sequentially composed of a third knuckle, a second knuckle and a first knuckle from a metacarpophalangeal joint, and each three-stage series flexion and extension mechanism has three flexion and extension freedom degrees and one deflection freedom degree; the tendon rope driving units are arranged in the palm part; the palm center camera is integrated on the front face of the palm part and used for collecting visual information of an operation area; the 15 air pressure type touch sensor modules are installed on the third knuckles, the second knuckles and the first knuckles of all the finger units in a distributed mode, and each air pressure type touch sensor module is integrated with a pressure and temperature double sensing unit and used for sensing contact pressure and environment temperature; the control module is integrated on the back face of the palm part and is in signal connection with the palm center camera, the air pressure type touch sensor modules and the tendon rope driving unit.

The invention relates to a robot dynamic grabbing control method based on visual sense and tactile sense depth fusion. The method comprises the following steps that firstly, based on visual information, surface geometric features of a target object are extracted, grabbing adaptability scores are calculated, an optimal grabbing point is selected, and a collision-free approaching track is planned; secondly, in a contact establishment stage, detecting a contact event through a touch sensor, fusing vision and touch data to unify a coordinate system, calculating a vision-touch consistency score, and applying an initial grabbing force; and thirdly, in the stable holding stage, slip detection is conducted through wavelet packet energy entropy and pressure gradient, and the grabbing force and impedance parameters are dynamically adjusted in combination with self-adaptive impedance control. According to the method, intelligent control over the whole process from approaching to contact to stable holding is achieved, and the adaptability, stability and safety of robot grabbing in the dynamic environment are improved.

A visual tactile sensor, a manipulator and a control method thereof, the visual tactile sensor comprising: a contact layer, at least a portion of which is transparent; when the contact layer is subjected to external force, at least one part of a plurality of markers in the marker array generates displacement and / or deformation; and the image acquisition unit is used for performing image acquisition on the marker array and performing image acquisition on the outside through the transparent part of the contact layer. The visual tactile sensor provided by the invention not only can capture the external visual information before operation to identify the operation object, but also can provide the tactile information in the operation process, so that the perception capability of an operation system is enhanced, and the operation success rate is improved.

The invention discloses a robot system with tactile perception, and belongs to the technical field of tactile robots. The problem that an existing robot is poor in environment pressure sensing capacity is solved. Comprising a head module, an integrated vision-inertial navigation sensing module and a head controller, two side surfaces are provided with a pair of rotatable connecting ends, and the outer surface is provided with a tactile sensor; the head controller transmits data to the upper computer through the communication module; the driving body module comprises a plurality of modularized joints which are connected end to end, touch sensors are arranged on the two side faces of each modularized joint, and the adjacent modularized joints are orthogonally connected; the modularized joint is integrated with a joint controller and a joint steering engine; the tail module integrates a tail controller and a tail steering engine, and tactile sensors are arranged on the two side faces of the tail module. The tail controller carries out data transmission with the head controller through the adjacent previous joint controller in sequence, and the head controller receives a control instruction of the upper computer and carries out data transmission with all other controllers. According to the invention, the environmental pressure can be sensed in all directions.

The invention relates to the technical field of robot tactile sensing, in particular to a bionic fingertip tactile sensor based on a fiber bragg grating and a sensibilization packaging method thereof.The bionic fingertip tactile sensor based on the fiber bragg grating comprises a flexible contact layer and a strain layer, and micro-column structures arranged in a rectangular array are arranged in the flexible contact layer; the flexible contact layer is seamlessly combined and covers the upper surface of the strain layer, a fiber bragg grating is fixedly packaged in the strain layer right below the micro-column structure, a tough supporting layer is fixed on the upper surface of the strain layer, a bionic three-layer composite packaging system is adopted, and the flexible contact layer is made of low-elasticity-modulus silica gel with the shore hardness of A10-A80. Stress enhancement and curved surface self-adaptive attachment are achieved, the stress transmission efficiency of the strain layer is improved by more than three times of that of a traditional design through a micro-column array structure, the tough supporting layer provides a rigid protection substrate, overload deformation is effectively restrained, and reliable tactile feedback is provided for precise operation of a robot.

The invention discloses a robot finger tactile perception method and system based on artificial intelligence, and the method comprises the following steps: S1, obtaining visual data and tactile perception initial parameters of a to-be-interacted object of a robot finger, carrying out the preprocessing of the visual data, and extracting the appearance features of the object, performing initial configuration on the touch sensing initial parameters; and S2, object recognition is conducted on the preprocessed visual data through a machine learning model, and the material category, morphological characteristics and surface attributes of an object are determined. According to the robot finger tactile perception method and system based on artificial intelligence, by combining a visual system and tactile sensor data and utilizing a convolutional neural network and Transform fusion architecture to extract local textures and global morphological features of an object, high-precision recognition of material categories, morphological features and surface attributes of the object is realized.

The invention discloses a bionic finger, a hand motion control device, a bionic hand control method and a robot, and belongs to the technical field of bionic robotics.The device comprises a plurality of flexible electric actuators which comprise electric actuating materials capable of actively deforming under excitation of an electric field; one end of the flexible electric actuator serves as a fixed end to be connected to the finger adaptation base, and the other end of the flexible electric actuator serves as a free end to be connected to the knuckle structure through a force transmission path. Wherein each flexible electric actuator can be independently controlled, and the plurality of flexible electric actuators cooperatively drive the knuckle structure to generate bionic motion; the passive constraint structure is configured to provide anisotropic mechanical constraint for active deformation of the flexible electric actuator, so that the active deformation is guided and converted into driving displacement or driving force in the first preset direction; and the guide structure is used for guiding the deformation direction of the flexible electric actuator. The device can integrate a strain sensor, an angle sensor and a touch sensor, and realizes closed-loop cooperative control through a controller.

The invention relates to a flexible dual-mode capacitive touch sensor based on a three-gradient micro-dome porous structure. The sensor adopts a sandwich structure and comprises an upper electrode layer, a TGP dielectric layer and a lower electrode layer, wherein the upper electrode layer and the lower electrode layer respectively cover the upper surface and the lower surface of the TGP dielectric layer; the TGP dielectric layer comprises a gradient part and a porous part, the porous part is located on the upper surface of the lower electrode layer, and the gradient part is distributed on the porous part; the gradient part comprises three kinds of micro-dome structures and flat-top protrusions. Different pressure working characteristics of the two structures are fully utilized, so that the porous structure works in a low-pressure area, the gradient structure works in a medium-high pressure area, the performance of the porous structure and the gradient structure is synergistically enhanced, the linear range of the sensor is widened, and the sensitivity is further improved.

A robot-based assembly control method includes providing a plurality of neural network models comprising at least a reinforcement learning network model and a tensor fusion network model. Training data for the models includes visual data from the vision device, tactile data from the tactile sensor, motion feedback data from the robot and torque feedback data from the robot. An assembly control system based on the robot, which includes a clamping effector at an end of a movable part of the robot, wherein a tactile sensor and a soft rubber pad are provided on an inside clamping portion of the clamping effector from inside to outside is described. Based on fusing the visual information with the external forces of other dimensions indirectly obtained from changes in tactile signals, representation vectors can be used to generate appropriate instructions of robot motion for flexibly adjusting the insertion force to complete the assembly.

The invention belongs to the technical field of robots, and particularly discloses a multi-mode dexterous hand fusing visual tactile sense and palmtop eye and application thereof.The multi-mode dexterous hand comprises a hand body, a visual tactile sensor, a palmtop eye module and a processor, the visual tactile sensor comprises a skeleton, an elastic body, RGB and an NIR camera, the skeleton is of a finger-shaped structure, and the skeleton and the hand body form a hand structure; the elastomer covers the outer side of the framework, and a diffuse reflection coating covers the surface of the elastomer; the RGB camera and the NIR camera are installed in the framework and used for obtaining an RGB image and an NIR image when the first object makes contact with the elastic body; the handheld eye module is installed in the middle of the hand body, comprises a second RGB camera and a TOF camera and is used for taking a second object RGB image and sparse depth; and the processor determines the first object surface three-dimensional point cloud and the second object depth map to realize pose alignment of the two. According to the invention, touch-vision-depth multi-mode perception can be realized, and the precision and robustness of the manipulator are improved.

The invention provides an isomorphic sensor dexterous hand-tactile glove system and a data acquisition method, and belongs to the technical field of tactile sensing, the system comprises a tactile data acquisition module which comprises a glove main body and a fixed flange arranged on the glove main body, a tactile sensor array is arranged on the palm side of the fixed flange and used for collecting tactile data of interaction between the glove body and an object; the visual perception module comprises an infrared camera array and an RGB (Red, Green and Blue) camera array, and is used for tracking marking balls arranged on the fixed flanges so as to solve pose data of the fixed flanges and collecting RGB images of interaction between the glove main body and an object; and the multi-modal data processing module is used for receiving the tactile data, the pose data and the RGB image, realizing space-time alignment of the data and generating a standardized data set. The system is simple in structure, rapid in deployment and high in acquisition safety, and can be suitable for tactile big data acquisition under multi-scene and multi-task conditions.

The invention discloses a flexible three-dimensional force tactile sensor and a preparation method thereof, and belongs to the technical field of flexible tactile sensors. The flexible three-dimensional force tactile sensor solves the problem that when an existing flexible three-dimensional force tactile sensor senses tangential force, the wide linear range and the high sensitivity contradict each other, and the requirements that the sensitivity and the linear range can be flexibly adjusted and customized are met. According to the invention, the sensitive layer with transverse gradient change of modulus is constructed in a manner of sleeving and splicing materials with different moduli, so that the sensitivity of the sensitive layer is changed transversely, and the sensitive layer is used for regulating and controlling the change of the sensitivity and the linear range when the sensor detects tangential force; the non-uniformity of the surface stress distribution of the sensitive layer under the action of the tangential load is utilized by utilizing the sensitivity of the non-uniform transverse distribution of the sensitive layer, so that the tangential force sensing performance of the device is further improved, the method is also effective under the normal load, and the three-dimensional force sensor prepared by the method has high sensitivity and wide linear range, and can be applied to the field of sensor devices. The method is widely applied to the aspects of three-dimensional force measurement, direction control and the like.

The invention discloses a multi-mode visual tactile sensor and a sensing method thereof. The sensor is composed of a sensing cover and an imaging box body, the sensing cover is fixed on the imaging box body, the sensing cover is provided with a flexible sensing layer, an embedded mark point array combining inert ink and thermochromic ink is arranged in the sensing layer, during tactile sensing, a light source is provided through the imaging box body, and multi-mode sensing data is obtained. Therefore, displacement tracking and temperature sensing are realized at the same time. According to the invention, multi-mode sensing of five modes of a two-dimensional texture pattern, a three-dimensional texture image, a three-dimensional displacement field, a three-dimensional force field and a two-dimensional temperature field can be realized under a single optical frame, real-time co-registration measurement can be realized, and a high-integration-level solution is provided for a robot touch system. The problems that an existing visual tactile sensor cannot sense multi-mode information synchronously, force field reconstruction calculation is complex, and temperature sensing capacity is lacked are solved, and the visual tactile sensor is suitable for application scenes such as robot tactile sensing, man-machine interaction, intelligent artificial limbs and industrial detection.

The invention discloses a visual tactile sensor based on a magnetic imaging principle. The visual tactile sensor comprises a shell, an image acquisition module, a magnetic pole display film, an elastic body and a magnetic film, the magnetic pole display film, the elastic body and the magnetic thin film are arranged in the shell from top to bottom, and the image acquisition module is located above the magnetic pole display film and used for acquiring an image of the magnetic pole display film; when the sensor is used for pressure sensing, the position with the maximum gray level variation of the magnetic pole display film image is the pressure acting position, and the pressure is equal to the result that the gray level variation of the magnetic pole display film image is divided by the magneto-optical conversion coefficient of the magnetic pole display film and the product thereof. The magnetic induction intensity in the center range of the surface of the magnetic film, the initial distance between the magnetic film and the magnetic pole display film and the equivalent elastic coefficient of the magnetic film and the elastic body are related. The sensor converts a mechanical signal into a magnetic field signal and then converts the magnetic field signal into an optical image, high-sensitivity sensing of tiny pressure is achieved, and meanwhile the sensor has the higher signal-to-noise ratio, stability and anti-interference capacity.

Apparatuses, systems, and techniques to perform a grasp of on object using an articulated robotic hand equipped with one or more tactile sensors. In at least one embodiment, a machine-learned model trained in simulation to grasp a cuboid using signals received from tactile sensors is applied to grasping objects of various shapes in a real-world environment.

A system and method for providing tactile sensor calibration that include receiving force data from a force / torque sensor and tactile data from a plurality of taxels of a tactile sensor pad. The system and method also include interpolating the force data and the tactile data and pre-processing the interpolated data to align the force data and the tactile data to match data points. The system and method additionally include dividing the matched data points into individual interactions and computing a linear regression for each segment that is associated with each interaction. The system and method further include determining an amount of force that is absorbed by the tactile sensor pad based on a conversion of tactile measurements sensed by the plurality of taxels into Newtons based on the linear regression computed for each segment.

The utility model relates to the technical field of sensors, in particular to a visual touch sensor. According to the utility model, the colloid on the transparent plate is in contact with an object, the single-sided mirror is arranged opposite to the colloid on the opening, the camera component performs visual detection on the deformation condition of the colloid reflected by the single-sided mirror, and the effect of clamping different objects is achieved through the deformation of the colloid, so that the tactile perception capability of the visual tactile sensor is realized; the robot is simple in structure, low in cost and high in adaptability, and can be widely applied to the fields of object grabbing, flexible operation, touch perception in rehabilitation prostheses and the like; and meanwhile, the number of parts required by the visual tactile sensor is reduced, the working stability of the visual tactile sensor can be effectively improved, the failure rate is low, and the reliability is relatively high.

The utility model discloses a high-sensitivity flexible tactile sensor, a sensor module and an intelligent robot with a body, the high-sensitivity flexible tactile sensor comprises a flexible chamber substrate, an anti-corrosion protection ring, a flexible cover film, an induction material layer and a plurality of convex structures, the flexible chamber substrate comprises a flexible substrate, the anti-corrosion protection ring is arranged on the flexible substrate, and the anti-corrosion protection ring is arranged on the anti-corrosion protection ring. The electrode layer and the flexible bonding layer are sequentially and regularly arranged on the front face of the flexible substrate, the flexible bonding layer surrounds an interdigital electrode area of the electrode layer to form a cavity structure, and an electrode lead of the electrode layer is led out of the cavity structure. According to the high-sensitivity flexible tactile sensor, due to the innovative design of the flexible sealing cavity substrate, the flexible cover film and the protruding structure, the flexible tactile sensor shows high sensitivity and low detection limit.

The invention provides an object sensing method and system based on proximity vision and tactile deformation, which are applied to the technical field of tactile sensing, and the method comprises the steps: obtaining a binocular image collected by a visual tactile sensor after a target object is in contact with a preset visual tactile sensor; performing visual feature extraction based on the binocular image to obtain a binocular feature point two-dimensional coordinate of the target object; extracting a tactile mark based on the binocular image to obtain a two-dimensional coordinate of a tactile mark point of the target object; through a three-dimensional reconstruction model based on ray tracing, based on the two-dimensional coordinates of the binocular feature points, determining approximate three-dimensional visual perception of the target object in the non-contact area; and determining contact three-dimensional deformation perception of the target object in the contact area through a three-dimensional reconstruction model based on ray tracing and based on the two-dimensional coordinates of the binocular feature points. According to the invention, the perception capability of the visual tactile sensor on the object state and the interaction degree can be improved.

The invention relates to a multi-mode cooperative flexible tactile buffer sensor for drone inhabitation, and belongs to the technical field of tactile sensors, the sensor comprises a support, a Hall sensor, an elastic layer, a first magnetic layer, a piezoelectric layer and a protective cover, the top end of the first magnetic layer is bonded to the bottom end of the elastic layer, when an inhabiting drone inhabits and bears force, the piezoelectric layer is attached to the bottom end of the elastic layer, and the piezoelectric layer is attached to the bottom end of the first magnetic layer; the shape of the elastic layer is rapidly changed, the distance between the Hall sensor and the first magnetic layer is adjusted, correspondingly, the intensity of the magnetic field sensed by the Hall sensor also changes, and the inhabiting stress of the inhabiting unmanned aerial vehicle can be calculated according to the change of the magnetic field intensity; then the top end of the piezoelectric layer is bonded to the bottom end of the first magnetic layer, when the inhabiting unmanned aerial vehicle is stressed in motion, the piezoelectric layer generates elastic deformation and generates current, and the motion stress of the inhabiting unmanned aerial vehicle is calculated, so that various states of inhabiting, landing, collision, sliding, falling, shaking and the like of the inhabiting unmanned aerial vehicle are detected at the same time; and closed-loop feedback is provided for self-adaptive inhabitation of the inhabiting unmanned aerial vehicle.

The invention provides a visual tactile sensor, a geometric calibration method and computer equipment, and the visual tactile sensor comprises a base which is internally provided with an imaging unit; the light source module is arranged on the base and comprises 3N single-point light sources which are arranged around the imaging unit and can be independently controlled, and N is larger than or equal to 1; and the elastic housing is arranged on the base in a covering manner, and the imaging unit and the light source module are wrapped in the elastic housing. By constructing the novel curved surface visual tactile sensor and the matched geometric calibration method thereof, the problems that a traditional plane sensor is weak in multi-direction contact sensing capacity, difficult in curved surface calibration and the like are effectively solved, data generated by a physical model are used for training a lightweight neural network, and the accuracy of the curved surface visual tactile sensor is improved. Real-time surface normal prediction under single-frame three-color image input is realized, and the precision and reasoning speed of three-dimensional reconstruction are considered while hardware dependence and calibration cost are remarkably reduced.

The invention relates to the technical field of bionic touch sensors, in particular to a touch pain sense sensor based on double-layer heterogeneous optical fiber sharpness perception and a preparation method. The touch pain sense sensor comprises an SGS-MZI structure which is formed by welding a single-mode optical fiber, a step type multimode optical fiber and a gradual change type multimode optical fiber and is used for realizing shallow touch pressure detection; the MNF structure is located under the SGS-MZI structure; the MNF structure is a non-adiabatic conical structure obtained by fused biconical taper of a single-mode fiber, and is used for realizing deep contact pressure and sharpness detection; the middle supporting layer is located between the SGS-MZI structure and the MNF structure; and the SGS-MZI structure and the MNF structure are fixedly arranged on the top surface and the bottom surface of the middle supporting layer respectively. According to the invention, through a double-layer heterogeneous structure based on the sandwich structure multimode fiber Mach-Zehnder interferometer (MZI) and the MNF, sharpness identification and touch pain perception functions are realized, so that the detection performance of the bionic touch sensor is improved.

The invention discloses a visual tactile sensor fused with an optical waveguide and a preparation method thereof, and belongs to the technical field of intelligent tactile sensing. The visual tactile sensor comprises a fixed shell, and the top end of the fixed shell is open; the composite tactile sensing layer is arranged at the opening position of the fixed shell, and the composite tactile sensing layer is sequentially composed of a shading layer, a reflecting layer, a red-green spaced fluorescent layer, an elastic deformation layer and a supporting layer from top to bottom; and the optical lighting and sensing component comprises a blue LED light bar, an array light intensity sensor and a camera, the blue LED light bar and the array light intensity sensor are arranged on the two corresponding sides of the composite touch sensing layer respectively, and the camera is arranged at the bottom in the fixed shell. Through fusion of rapid and stable light intensity detection characteristics of optical waveguide sensing and pressure distribution detection capability of the visual tactile sensor, high-resolution space and texture identification and high-sensitivity mechanical response detection are simultaneously realized in a single sensor architecture.

The invention discloses a visual tactile sensor, an electronic skin and a robot, relates to the field of sensors, and is used for improving the comprehensiveness and sensitivity of stress detection. The sensor comprises a magnetic film covering the top surface and the side surface, and the magnetic film is prepared by mixing magnetic powder and silicone rubber; the support supports the magnetic thin film, a magnetic display card and a light source are arranged in the support, the visual touch collector collects magnetic induction data and development data of stress of the magnetic thin film, and then the multi-mode pressure detection model analyzes the stress position and / or the stress size. The stress detection sensitivity is high, comprehensive detection of the top face and the side faces can be achieved, and the detection precision is high.

The invention relates to the technical field of robot grabbing, in particular to a supermarket robot self-adaptive flexible grabbing method and system based on visual guidance and reinforcement learning, and the system comprises a sensing and modeling module, a path planning and decision making module, a force control and feedback module, a self-adaptive adjustment module and a data storage and visualization module. Geometric and material characteristics of a target object are obtained through a binocular camera and a touch sensor, a motion track is optimized in combination with reinforcement learning, and precise force control is realized by using a six-dimensional force sensor. According to the method, the grabbing efficiency, the flexibility and the self-adaptive capacity of the robot in a complex dynamic scene can be improved, meanwhile, an intuitive visual monitoring means is provided, and the efficient and safe grabbing requirement is met.

The invention discloses a high-sensitivity multi-mode flexible touch sensor, a sensor module and an intelligent robot with a body. The high-sensitivity multi-mode flexible touch sensor comprises a flexible magnetic substrate, a flexible pressure sensor, a collector and a base which are sequentially arranged from top to bottom and are integrally formed. According to the high-sensitivity multi-mode flexible tactile sensor for tactile perception of the intelligent robot with the body, the magnetic sensor and the flexible pressure sensor are innovatively integrated, and the sensor combination structure design of the two modes and the multi-mode data fusion algorithm are adopted; and multi-mode and high-precision sensing and quick response of complex environment information are realized. Meanwhile, the problem that a magnetic sensor is difficult to be compatible with a low detection limit and a wide range in a single mode is solved, the environmental adaptability and the task execution capability of the intelligent robot with the body can be effectively improved, and remarkable technical innovation and application value are achieved.

The present disclosure provides a method of inspection of a surface of an aerodynamic structure. The method includes acquiring image(s) of the surface using image sensor(s) disposed adjacent to the surface, and determining, using the image(s) applied to a model, predicted defect(s) of the surface and corresponding location information. The method further includes controlling, using the location information, the position of tactile sensor(s) disposed adjacent to the surface to acquire dimensioning information for at least a first predicted defect of the predicted defect(s). The method further includes characterizing the first predicted defect using the dimensioning information.

A three-dimensional elastography method based on a vision-based tactile sensor. The method comprises several steps, which respectively involve: performing system construction and data processing, and acquiring contact deformation data collected by a vision-based tactile sensor; performing forward simulation; performing inverse optimization; calculating gradient information inside a target object, deriving the derivative of an objective function with respect to Young's modulus, calculating the partial derivative of a resultant force with respect to an elasticity distribution, and calculating the overall gradient of the objective function with respect to Young's modulus distribution; and outputting a Young's modulus distribution obtained by means of reconstruction and outputting a quantization reliability index. The method can realize accurate reconstruction of a Young's modulus distribution inside soft objects under robotic tactile sampling, and can output a corresponding reliability index, thus having high levels of practicability.