Time-of-flight signal processing for FTIR-based tactile sensors

García-Pueyo, Jorge (Universidad de Zaragoza) ; Cartiel, Sergio (Universidad de Zaragoza) ; Bacher, Emmanuel ; Laurenzis, Martín ; Muñoz, Adolfo (Universidad de Zaragoza)

Resumen: Optical tactile sensors offer a promising avenue for advanced sensing and perception. We focus on frustrated total internal reflection (FTIR) tactile sensors that utilize time-of-flight (ToF) measurements. We analyze the complex behavior of ToF signals within optical waveguides in the time domain, where phenomena like internal reflections and scattering significantly influence light propagation, especially in the presence of touch. Leveraging this analysis, we develop a real-time processing algorithm that enhances FTIR tactile sensing capabilities, allowing for precise detection. We evaluate our algorithm on an OptoSkin sensor setup, demonstrating a significant improvement in multi-touch detection and contact shape reconstruction accuracy. This work represents a significant step towards high-resolution, low-cost optical tactile sensors, and advances the understanding of time-resolved light transport within waveguides and in scattering media.

Idioma: Inglés

DOI: 10.1364/OE.570548

Año: 2025

Publicado en: OPTICS EXPRESS 33, 18 (2025), 38909
ISSN: 1094-4087

Financiación: info:eu-repo/grantAgreement/EC/HORIZON EUROPE/101070310/EU/Physical Cognition for Intelligent Control and Safe Human-Robot Interaction/Sestosenso
Financiación: info:eu-repo/grantAgreement/ES/MCIU/FPU23-03132

Tipo y forma: Artículo (Versión definitiva)

Área (Departamento): Área Lenguajes y Sistemas Inf. (Dpto. Informát.Ingenie.Sistms.)