Resolution Enhancement Method Used for Force Sensing Resistor Array

摘要

Tactile sensors are one of the major devices that enable robotic systems to interact with the surrounding environment. This research aims to propose a mathematical model to describe the behavior of a tactile sensor based on experimental and statistical analyses and moreover to develop a versatile algorithm that can be applied to different tactile sensor arrays to enhance the limited resolution. With the proposed algorithm, the resolution can be increased up to twenty times if multiple measurements are available. To verify if the proposed algorithm can be used for tactile sensor arrays that are used in robotic system, a<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mn>16</mml:mn><mml:mo>×</mml:mo><mml:mn>10</mml:mn></mml:math>force sensing array (FSR) is adopted. The acquired two-dimensional measurements were processed by a resolution enhancement method (REM) to enhance the resolution, which can be used to improve the resolution for single image or multiple measurements. As a result, the resolution of the sensor is increased and it can be used as synthetic skin to identify accurate shapes of objects and applied forces.