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Sensors, Volume 19, Issue 21 (November-1 2019)
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Cover Story (view full-size image) Tactile sensing is the current challenge in robotics and object manipulation by machines. Robots’ [...] Read more. Tactile sensing is the current challenge in robotics and object manipulation by machines. Robots’ agile interaction with the environment requires touch direction detection. The paper presents a new, two-layer construction of artificial robotic skin, which allows measuring the location, value, and direction of pressure from external forces. The proposed solution is based on two low-cost FSR (force-sensitive resistor) matrices. Detecting the pressure direction is accomplished by a new idea of determining the shift between the pressure maps of the skin’s upper and lower layers. Real-time operation times are obtained thanks to using fast shift calculation using a phase-only correlation (POC) method. The developed device can help to meet the increasing requirements for robots human–machine interfaces but can also enable agile manipulation of objects from their surroundings. View this paper.