External Photoreflective Tactile Sensing Based on Surface Deformation Measurement

We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile transducers. Locating the sensor off the contact interface reduces damage risk, preserves softness, and simplifies fabrication and maintenance. We first characterize the optical sensing element and the compliant skin, thendetermine the design of a prototype tactile sensor. Compression experiments validate the approach, exhibiting a monotonic force output relationship consistent with theory, low hysteresis, high repeatability over repeated cycles, and small response indentation speeds. We further demonstrate integration on a soft robotic gripper, where the module reliably detects grasp events. Compared with liquid filled or wireembedded tactile skins, the proposed modular add on architecture enhances durability, reduces wiring complexity, and supports straightforward deployment across diverse robot geometries. Because the sensing principle reads skin strain patterns, it also suggests extensions to other somatosensory cues such as joint angle or actuator state estimation from surface deformation. Overall, leveraging surface compliance with an external optical module provides a practical and robust route to equip soft robots with force perception while preserving structural flexibility and manufacturability, paving the way for robotic applications and safe human robot collaboration.

Investigating context features hidden in End-to-End TTS

Recent studies have introduced end-to-end TTS, which integrates the production of context and acoustic features in statistical parametric speech synthesis. As a result, a single neural network replaced laborious feature engineering with automated feature learning. However, little is known about what types of context information end-to-end TTS extracts from text input before synthesizing speech, and the previous knowledge about context features is barely utilized. In this work, we first point out the model similarity between end-to-end TTS and parametric TTS. Based on the similarity, we evaluate the quality of encoder outputs from an end-to-end TTS system against eight criteria that are derived from a standard set of context information used in parametric TTS. We conduct experiments using an evaluation procedure that has been newly developed in the machine learning literature for quantitative analysis of neural representations, while adapting it to the TTS domain. Experimental results show that the encoder outputs reflect both linguistic and phonetic contexts, such as vowel reduction at phoneme level, lexical stress at syllable level, and part-of-speech at word level, possibly due to the joint optimization of context and acoustic features.