Large-scale tactile sensing is important for household robots and human-robot interaction because contacts can occur all over a robot’s body surface. This paper presents a new fabric-based tactile sensor that is straightforward to manufacture and can cover a large area. The tactile sensor is made of conductive and non-conductive fabric layers, and the electrodes are stitched with conductive thread, so the resulting device is flexible and stretchable. The sensor utilizes internal array electrodes and a reconstruction method called electrical resistance tomography (ERT) to achieve a high spatial resolution with a small number of electrodes. The developed sensor shows that only 16 electrodes can accurately estimate single and multiple contacts over a square that measures 20Â cm by 20Â cm.
CITATION STYLE
Lee, H., Park, K., Kim, J., & Kuchenbecker, K. J. (2019). A Large-Scale Fabric-Based Tactile Sensor Using Electrical Resistance Tomography. In Lecture Notes in Electrical Engineering (Vol. 535, pp. 107–109). Springer Verlag. https://doi.org/10.1007/978-981-13-3194-7_24
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