Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor
A tomographic tactile sensor based on the contact resistance of conductors is a high sensitive pressure distribution imaging method and has advantages on the flexibility and scalability of device. While the addition of internal electrodes improves the sensor’s spatial resolution, there still remain...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-05-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1157911/full |
| _version_ | 1827946231211491328 |
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| author | Akira Kojima Shunsuke Yoshimoto Akio Yamamoto |
| author_facet | Akira Kojima Shunsuke Yoshimoto Akio Yamamoto |
| author_sort | Akira Kojima |
| collection | DOAJ |
| description | A tomographic tactile sensor based on the contact resistance of conductors is a high sensitive pressure distribution imaging method and has advantages on the flexibility and scalability of device. While the addition of internal electrodes improves the sensor’s spatial resolution, there still remain variations in resolution that depend on the contact position. In this study, we propose an optimization algorithm for electrode positions that improves entire spatial resolution by compensating for local variations in spatial resolution. Simulation results for sensors with 16 or 64 electrodes show that the proposed algorithm improves performance to 0.81 times and 0.93 times in the worst spatial resolution region of the detection area compared to equally spaced grid electrodes. The proposed methods enable tomographic tactile sensors to detect contact pressure distribution more accurately than the conventional methods, providing high-performance tactile sensing for many applications. |
| first_indexed | 2024-03-13T10:54:43Z |
| format | Article |
| id | doaj.art-d1d976a8196c402cb22751901832c44c |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-13T10:54:43Z |
| publishDate | 2023-05-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-d1d976a8196c402cb22751901832c44c2023-05-17T05:10:10ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-05-011010.3389/frobt.2023.11579111157911Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensorAkira KojimaShunsuke YoshimotoAkio YamamotoA tomographic tactile sensor based on the contact resistance of conductors is a high sensitive pressure distribution imaging method and has advantages on the flexibility and scalability of device. While the addition of internal electrodes improves the sensor’s spatial resolution, there still remain variations in resolution that depend on the contact position. In this study, we propose an optimization algorithm for electrode positions that improves entire spatial resolution by compensating for local variations in spatial resolution. Simulation results for sensors with 16 or 64 electrodes show that the proposed algorithm improves performance to 0.81 times and 0.93 times in the worst spatial resolution region of the detection area compared to equally spaced grid electrodes. The proposed methods enable tomographic tactile sensors to detect contact pressure distribution more accurately than the conventional methods, providing high-performance tactile sensing for many applications.https://www.frontiersin.org/articles/10.3389/frobt.2023.1157911/fulltactile sensorscontact pressure distributionelectrical impedance tomographyoptimizationelectrodes |
| spellingShingle | Akira Kojima Shunsuke Yoshimoto Akio Yamamoto Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor Frontiers in Robotics and AI tactile sensors contact pressure distribution electrical impedance tomography optimization electrodes |
| title | Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor |
| title_full | Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor |
| title_fullStr | Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor |
| title_full_unstemmed | Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor |
| title_short | Optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor |
| title_sort | optimization of electrode positions for equalizing local spatial performance of a tomographic tactile sensor |
| topic | tactile sensors contact pressure distribution electrical impedance tomography optimization electrodes |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1157911/full |
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