000163222 001__ 163222 000163222 005__ 20251020114022.0 000163222 0247_ $$2doi$$a10.1364/OE.570548 000163222 0248_ $$2sideral$$a145687 000163222 037__ $$aART-2025-145687 000163222 041__ $$aeng 000163222 100__ $$0(orcid)0000-0001-6070-0509$$aGarcía-Pueyo, Jorge$$uUniversidad de Zaragoza 000163222 245__ $$aTime-of-flight signal processing for FTIR-based tactile sensors 000163222 260__ $$c2025 000163222 5060_ $$aAccess copy available to the general public$$fUnrestricted 000163222 5203_ $$aOptical 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. 000163222 536__ $$9info:eu-repo/grantAgreement/EC/HORIZON EUROPE/101070310/EU/Physical Cognition for Intelligent Control and Safe Human-Robot Interaction/Sestosenso$$9info:eu-repo/grantAgreement/ES/MCIU/FPU23-03132 000163222 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es 000163222 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000163222 700__ $$aCartiel, Sergio$$uUniversidad de Zaragoza 000163222 700__ $$aBacher, Emmanuel 000163222 700__ $$aLaurenzis, Martín 000163222 700__ $$0(orcid)0000-0002-8160-7159$$aMuñoz, Adolfo$$uUniversidad de Zaragoza 000163222 7102_ $$15007$$2570$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Lenguajes y Sistemas Inf. 000163222 773__ $$g33, 18 (2025), 38909$$pOpt. express$$tOPTICS EXPRESS$$x1094-4087 000163222 8564_ $$s10388956$$uhttps://zaguan.unizar.es/record/163222/files/texto_completo.pdf$$yVersión publicada 000163222 8564_ $$s2413435$$uhttps://zaguan.unizar.es/record/163222/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000163222 909CO $$ooai:zaguan.unizar.es:163222$$particulos$$pdriver 000163222 951__ $$a2025-10-20-11:13:21 000163222 980__ $$aARTICLE