163222 20251020114022.0 doi 10.1364/OE.570548 sideral 145687 ART-2025-145687 eng García-Pueyo, Jorge Universidad de Zaragoza (orcid)0000-0001-6070-0509 Time-of-flight signal processing for FTIR-based tactile sensors 2025 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. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/EC/HORIZON EUROPE/101070310/EU/Physical Cognition for Intelligent Control and Safe Human-Robot Interaction/Sestosenso info:eu-repo/grantAgreement/ES/MCIU/FPU23-03132 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Cartiel, Sergio Universidad de Zaragoza Bacher, Emmanuel Laurenzis, Martín Muñoz, Adolfo Universidad de Zaragoza (orcid)0000-0002-8160-7159 5007 570 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Lenguajes y Sistemas Inf. 33, 18 (2025), 38909 Opt. express OPTICS EXPRESS 1094-4087 10388956 http://zaguan.unizar.es/record/163222/files/texto_completo.pdf Versión publicada 2413435 http://zaguan.unizar.es/record/163222/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:163222 articulos driver 2025-10-20-11:13:21 ARTICLE