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A Large-Scale Fabric-Based Tactile Sensor Using Electrical Resistance Tomography




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 20 cm by 20 cm.

Author(s): Hyosang Lee and Kyungseo Park and Jung Kim and Katherine J. Kuchenbecker
Pages: 107--109
Year: 2018
Month: November

Department(s): Haptic Intelligence
Research Project(s): Large-Scale Fabric-Based Tactile Sensor
Bibtex Type: Miscellaneous (misc)
Paper Type: Demonstration

Address: Incheon, South Korea
DOI: 10.1007/978-981-13-3194-7_24
How Published: Hands-on demonstration (3 pages) presented at AsiaHaptics
State: Published


  title = {A Large-Scale Fabric-Based Tactile Sensor Using Electrical Resistance Tomography},
  author = {Lee, Hyosang and Park, Kyungseo and Kim, Jung and Kuchenbecker, Katherine J.},
  pages = {107--109},
  howpublished = {Hands-on demonstration (3 pages) presented at AsiaHaptics},
  address = {Incheon, South Korea},
  month = nov,
  year = {2018},
  month_numeric = {11}