Scaling Fabric-Based Piezoresistive Sensor Arrays for Whole-Body Tactile Sensing
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915468490571776 |
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| author | Johnson, Curtis C. Webb, Daniel Hill, David Killpack, Marc D. |
| author_facet | Johnson, Curtis C. Webb, Daniel Hill, David Killpack, Marc D. |
| contents | Scaling tactile sensing for robust whole-body manipulation is a significant challenge, often limited by wiring complexity, data throughput, and system reliability. This paper presents a complete architecture designed to overcome these barriers. Our approach pairs open-source, fabric-based sensors with custom readout electronics that reduce signal crosstalk to less than 3.3% through hardware-based mitigation. Critically, we introduce a novel, daisy-chained SPI bus topology that avoids the practical limitations of common wireless protocols and the prohibitive wiring complexity of USB hub-based systems. This architecture streams synchronized data from over 8,000 taxels across 1 square meter of sensing area at update rates exceeding 50 FPS, confirming its suitability for real-time control. We validate the system's efficacy in a whole-body grasping task where, without feedback, the robot's open-loop trajectory results in an uncontrolled application of force that slowly crushes a deformable cardboard box. With real-time tactile feedback, the robot transforms this motion into a gentle, stable grasp, successfully manipulating the object without causing structural damage. This work provides a robust and well-characterized platform to enable future research in advanced whole-body control and physical human-robot interaction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_20959 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Scaling Fabric-Based Piezoresistive Sensor Arrays for Whole-Body Tactile Sensing Johnson, Curtis C. Webb, Daniel Hill, David Killpack, Marc D. Robotics Signal Processing Scaling tactile sensing for robust whole-body manipulation is a significant challenge, often limited by wiring complexity, data throughput, and system reliability. This paper presents a complete architecture designed to overcome these barriers. Our approach pairs open-source, fabric-based sensors with custom readout electronics that reduce signal crosstalk to less than 3.3% through hardware-based mitigation. Critically, we introduce a novel, daisy-chained SPI bus topology that avoids the practical limitations of common wireless protocols and the prohibitive wiring complexity of USB hub-based systems. This architecture streams synchronized data from over 8,000 taxels across 1 square meter of sensing area at update rates exceeding 50 FPS, confirming its suitability for real-time control. We validate the system's efficacy in a whole-body grasping task where, without feedback, the robot's open-loop trajectory results in an uncontrolled application of force that slowly crushes a deformable cardboard box. With real-time tactile feedback, the robot transforms this motion into a gentle, stable grasp, successfully manipulating the object without causing structural damage. This work provides a robust and well-characterized platform to enable future research in advanced whole-body control and physical human-robot interaction. |
| title | Scaling Fabric-Based Piezoresistive Sensor Arrays for Whole-Body Tactile Sensing |
| topic | Robotics Signal Processing |
| url | https://arxiv.org/abs/2508.20959 |