Tactile Sensing Using Force Sensing Resistors and a Super-Resolution Algorithm

• Published in: IEEE sensors journal Vol. 9; no. 1; pp. 29 - 35
• Main Authors: van den Heever, D.J., Schreve, K., Scheffer, C.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.01.2009; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Arrays; Detection; Digital images; Force measurement; Force sensing resistors; Force sensors; Image resolution; Pressure measurement; Resistors; Sensor arrays; Sensors; Spatial resolution; super resolution; Tactile; tactile sensing; Tactile sensors; Testing; Touch; touch sensor
• ISSN: 1530-437X; 1558-1748
• DOI: 10.1109/JSEN.2008.2008891

This paper presents a tactile sensor consisting of an array of force sensing resistors (FSRs). The tactile sensing array can be seen as a coordinated system of touch sensors. The low spatial resolution measured with the FSRs compared to other force or pressure sensors required the use of a super-resolution algorithm. Super-resolution algorithms are often used in digital image processing to enhance the resolution of images. Multiple images taken from slightly different orientations are superimposed in such a way that a single higher-resolution image is obtained. Different touch sensors are briefly discussed and the use of FSRs is motivated. Image-registration techniques are discussed and the super-resolution algorithm developed for the application is presented. Some tests performed using the tactile sensor in a neck palpation device and the results of these tests are also presented.