梳理机器人触觉数据表示方法，指导如何选对结构提升感知效果。
Representing Data in Robotic Tactile Perception -- A Review
- 提出六种常见触觉数据表示结构，分析其与硬件和算法的适配关系。
- 强调数据结构直接影响信息编码与任务表现，需系统匹配使用场景。
- 适合研究触觉感知、具身智能或机器人感知系统的学者参考。
机器人触觉感知涉及多个层次的计算步骤，其性能受机器人动作、本体机械特性及软件处理方式的共同影响。高阶信息处理通常借鉴计算机视觉等领域的成熟技术，但这些技术依赖于结构化输入数据。因此，必须将原始触觉传感器数据转换为特定数据结构，这一过程直接影响所编码的触觉信息及其后续任务执行效果。本文聚焦触觉感知流程中的关键环节——数据表示，首先明确其在感知管道中的作用，随后系统回顾现有研究如何处理触觉信息表示问题，分析硬件、表示方式与高层计算方法之间的关联。研究识别出文献中普遍采用的六种数据结构，并提供基于可用硬件、所需编码信息及具体任务的选用指南。
原文摘要 · Abstract (English)
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software that processes the data. In this respect, high-level computation, required to process and extract information, is commonly performed by adapting existing techniques from other domains, such as computer vision, which expects input data to be properly structured. Therefore, it is necessary to transform tactile sensor data to match a specific data structure. This operation directly affects the tactile information encoded and, as a consequence, the task execution. This survey aims to address this specific aspect of the tactile perception pipeline, namely Data Representation. The paper first clearly defines its contributions to the perception pipeline and then reviews how previous studies have dealt with the problem of representing tactile information, investigating the relationships among hardware, representations, and high-level computation methods. The analysis has led to the identification of six structures commonly used in the literature to represent data. The manuscript provides discussions and guidelines for properly selecting a representation depending on operating conditions, including the available hardware, the tactile information required to be encoded, and the task at hand.
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