arXiv:2601.19079cs.RO2026-01

用事件驱动触觉传感实现高速连续盲文识别,精度超98%。

Neuromorphic BrailleNet: Accurate and Generalizable Braille Reading Beyond Single Characters through Event-Based Optical Tactile Sensing

  • 基于事件的触觉传感器捕捉滑动过程中的动态接触,模拟人手指扫描。
  • 在标准深度下准确率≥98%,快速扫描下词级准确率超90%。
  • 适合助盲机器人与实时触觉感知场景,低延迟可扩展。

传统机器人盲文阅读器通常采用逐字符离散扫描,限制读取速度并打断自然流程。基于视觉的方法常需大量计算、引入延迟,且在真实环境下性能下降。本文提出一种基于Eventac(开源脉冲式触觉传感器)的高精度、实时连续盲文识别系统。与帧基视觉系统不同,该神经形态触觉模态能直接编码连续滑动过程中的动态接触事件,更贴近人类手指扫描方式。方法结合时空分割与轻量级ResNet分类器处理稀疏事件流,可在不同压深和扫描速度下实现鲁棒字符识别。系统在标准深度下准确率≥98%,跨多种盲文版布局具有良好泛化能力,且在快速扫描中仍保持优异性能。在含日常词汇的物理盲文板上,词级准确率超过90%,有效应对时间压缩带来的挑战。结果表明,神经形态触觉传感为机器人盲文阅读提供了低延迟、可扩展的解决方案,对辅助及机器人触觉感知具有广泛意义。

原文摘要 · Abstract (English)

Conventional robotic Braille readers typically rely on discrete, character-by-character scanning, limiting reading speed and disrupting natural flow. Vision-based alternatives often require substantial computation, introduce latency, and degrade in real-world conditions. In this work, we present a high accuracy, real-time pipeline for continuous Braille recognition using Evetac, an open-source neuromorphic event-based tactile sensor. Unlike frame-based vision systems, the neuromorphic tactile modality directly encodes dynamic contact events during continuous sliding, closely emulating human finger-scanning strategies. Our approach combines spatiotemporal segmentation with a lightweight ResNet-based classifier to process sparse event streams, enabling robust character recognition across varying indentation depths and scanning speeds. The proposed system achieves near-perfect accuracy (>=98%) at standard depths, generalizes across multiple Braille board layouts, and maintains strong performance under fast scanning. On a physical Braille board containing daily-living vocabulary, the system attains over 90% word-level accuracy, demonstrating robustness to temporal compression effects that challenge conventional methods. These results position neuromorphic tactile sensing as a scalable, low latency solution for robotic Braille reading, with broader implications for tactile perception in assistive and robotic applications.

盲文识别神经形态传感触觉感知实时系统

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