Measured product lead custody receipt.
github.com/Zer0pa/ZPE-TouchRESEARCH-READY
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V_01..V_03 PASS
Encoding Many Dimensions Of Touch
Four touch streams, each independently recoverable — contact, thermal, vibrotactile, proprioceptive · ZPE-Touch · PyPI zpe-touch 0.1.0 · github.com/Zer0pa/ZPE-Touch
When you hold something, your hand reports four things at once: contact pressure, surface temperature, vibration, and where the limb sits in space. Machines have always collapsed those into a single tactile stream.
ZPE-Touch gives each sense its own branch and ships them together in one packet. A contact-only decoder, applied to a thermal payload, returns 0.0 — the isolation is exact, not approximate. V_01, V_02, V_03 PASS on a fresh clone.
01 · THE GAPONE STREAM, FOUR SENSATIONS
Touch carries four distinct sensations at once. no research format has kept all four separately recoverable.
02 · MARKETSADJACENT R&D DOMAINS
Best-fit R&D teams only. No TAM, procurement readiness, or broad tactile-codec adoption claimed.
03 · VALUE
R&Dscope
Four touch senses round-trip exactly. Distribution breadth and external comparators remain open.
04 · INSIGHT
Touch is not one sensation. it has always been four.
05.1 · CURRENT TECHONE STREAM, NO ISOLATION
Today's haptic pipelines carry contact, temperature, vibration, and limb position in one undifferentiated stream. To inspect the thermal record of a grasp, a researcher must decode the whole touch event and pull the heat back out by hand.
05.2 · OUR TECHFOUR BRANCHES, EACH EXACT
ZPE-Touch gives each sense its own typed branch in the packet: contact, thermal, RA_II vibrotactile, and proprioceptive. Each branch round-trips exactly. A decoder built for contact, applied to a thermal payload, returns 0.0 — exactly zero, not an approximation. Same-contact alias rate sits at 0.0, collision rate at 0.0. The four senses do not bleed.
05.3 · BENCHMARKSDECLARED FIXTURES
Contact1.0exact rate
Thermal1.0exact rate
Vibrotactile1.0exact rate
Proprioceptive1.0exact rate
Scope: declared fixtures only. No external tactile-codec comparator. Four-branch exactness, not field claims.
06 · MEASUREMENTBRANCH-ISOLATED VERIFICATION
Each branch measured separately. V_01..V_03 PASS; the fresh clone confirms it.
06.1 · COMPARATIVE PERFORMANCE · BRANCH EXACT RATES
V_01..V_03 PASS on a fresh clone. Branch-aware decoders return the exact payload for their sense; a contact-only decoder returns 0.0 from thermal, vibrotactile, and proprioceptive payloads. Source: proofs/manifests/VERIFICATION_SUMMARY.md.
07 · KEY METRICSMEASURED RESULTS
07.1 · CONTACT
1.0
Exact rate · contact branch on fresh clone
07.2 · THERMAL
1.0
Exact rate · contact-only decoder returns 0.0
07.3 · VIBROTACTILE
1.0
Exact rate · RA_II vibrotactile branch isolated
07.4 · VERIFICATIONS
3/3
V_01..V_03 PASS · fresh clone, Rust and Python agree
07.5 · PROPRIOCEPTIVE
1.0
Exact rate · joint-angle and tension branch
08 · BRANCH ISOLATIONEXACT OR ZERO
Four streams. Four branches. Apply the wrong decoder — zero recovery.
08.1 · WHAT BRANCH ISOLATION MEANSTHE PROOF
On the declared validation surface — contact, thermal, RA_II vibrotactile, proprioceptive — V_01 through V_03 PASS on a fresh clone. The native Rust backend and the Python reference path produce matching output. Branch isolation is verified end to end.
A contact-only decoder, applied to a thermal payload, returns 0.0 — not an approximation, exactly zero. Same-contact alias rate: 0.0. Collision rate: 0.0. The four senses are genuinely separate. The claim holds for these declared streams on declared fixtures.
08.2 · HONEST BLOCKER
Honest Blocker ·
Scope: declared fixtures. PyPI zpe-touch 0.1.0 ships one Linux cp311-abi3 wheel — no source distribution, no macOS, no Windows. API hardening and external benchmarks remain open. Compass-8 stays outside scope. No affective touch, no full embodied touch, no ambient thermal modeling.
09
Touch keeps four honest channels.
09.1 · THE AMBITION
The aim is a tactile packet built from four typed senses: contact as the base, with thermal, RA_II vibrotactile, and proprioceptive histories carried alongside it and each one recoverable on its own. Getting there means closing API hardening, broader distribution, and external comparators across haptic systems that do not share a stack.
09.2 · WHAT WORKS NOW
Working today: four sense-isolated branches, each round-tripping exactly, on declared validation fixtures.
09.3 · WHAT'S STILL OPEN
Still open: API hardening, broader distribution, external comparators, affective and ambient-thermal touch.
09.4 · LAB FORMAT · NEAR-TERM (12–24 MO)
A shared file for tactile sessions
A haptics lab can hand off a session knowing the receiver sees contact, temperature, vibration, and limb position as four separate things. Reviewers pull the thermal record from one experiment without re-decoding the rest of the touch event.
09.5 · XR TRANSPORT · NEAR-TERM (12–24 MO)
XR sessions carry touch as four senses
An XR or teleoperation session transmits all four touch dimensions together, but a downstream tool can read just the vibration channel or just the joint trace. Design teams compare what a controller did to what a hand actually felt, side by side.
09.6 · ROBOT SKIN · MID-TERM (24–48 MO)
Robot-skin archives split by sense
A robotics group recording tactile sensor arrays keeps contact pressure, surface temperature, micro-vibration, and joint state as four indexable signals. A later study queries only the thermal record from a grasp without re-processing the rest of the session.
09.7 · TELEOPERATION · MID-TERM (24–48 MO)
Remote touch sessions stay reviewable
Surgeons, undersea operators, and remote-arm pilots end a session with a recording where each tactile sense is its own track. A second clinician or a regulator inspects the vibration channel of one moment without replaying the full embodied feed.
09.8 · TOUCH AS DATA · PARADIGM (48 MO+)
Touch becomes a thing you store
For the first time, a touch event lives as four parallel records you can open later — pressure here, heat there, vibration alongside, limb posture beside that. Touch enters the same regime as text, audio, and motion: storable, addressable, inspectable years after the hand moved on.