Systems, methods, and apparatus for 3-D surface mapping, compliance mapping, and spatial registration with an array of cantilevered tactile hair or whisker sensors

Systems, methods, and apparatus are provided using signals from a set of tactile sensors mounted on a surface to determine a surface topography. An example method includes receiving a set of moment and force input data from one or more identified topographies. The example method includes using a neural network to receive input from a training data set based on the first set of moment and force input data from the one or more identified topographies. Network weights to be used by the neural network to produce the training data set are modified via an evolutionary algorithm that tests vectors of candidate network weights. The example method includes receiving a moment and force input from a test object surface and reconstructing the surface topology based on the neural network outputs.