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Modular tactile sensing platform with sequential optical sampling for human-robot interfaces
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- Authors
- Hyunjin Kim, Seokjoo Cho, Chankyu Han, Jihyeon Ahn, Donho Lee, Seungtaek Jang, Gihun Lee, Kichul Lee, Hyeonseok Han, Ji-Hwan Ha, Junseong Ahn, Yongrok Jeong, Jungrak Choi, Inkyu Park
- Issue Date
- 2026-03
- Citation
- Device, v.4, pp.1-11
- ISSN
- 2666-9986
- Publisher
- Elsevier
- Language
- English
- Type
- Journal Article
- Abstract
- Tactile sensors are essential for physical human-machine interaction, but array architectures are limited in scalability, wiring complexity, and adaptability to nonuniform surfaces. Here, we present a modular tactile sensor platform based on sequential optical sampling that enables scalable signal acquisition from arbitrarily arranged sensor modules using a fixed number of electrical connections. Each module integrates a light-emitting diode (LED) and a photodiode (PD) within a unified optical readout scheme. The system supports pressure mapping over a 0–100 kPa range with a 0.15 s response time, plug-and-play reconfiguration, and miniaturization down to 4 × 4 mm per module. A machine learning-assisted force localization approach achieved a spatial resolution of 2.5 mm with a mean prediction error of 16.0 mN. Robotic integration demonstrated contact detection and safety-triggered control.
- KSP Keywords
- Contact detection, Electrical connections, Force localization, Human-Robot, Human-machine interaction, Light-emitting diode (led), Optical readout, Plug-and-Play, Prediction error, Pressure mapping, Sensor module