{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:14:13Z","timestamp":1740147253353,"version":"3.37.3"},"reference-count":23,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,1,8]],"date-time":"2024-01-08T00:00:00Z","timestamp":1704672000000},"content-version":"vor","delay-in-days":7,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100009534","name":"Universit\u00e4t Stuttgart","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100009534","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2024,1]]},"abstract":"Abstract<\/jats:title>Tactile sensing is essential for robots to adequately interact with the physical world, but creating tactile sensors for the robot\u2019s soft and flexible body surface has been a challenge. The resistance tomography-based tactile sensors have been introduced as a promising approach to creating soft tactile skins because the sensor fabrication can be greatly simplified with the aid of a computation model. This article introduces an electronic design strategy dividing frontend and backend electronics for the resistance tomography-based tactile sensors. In this scheme, the frontend is made of the piezoresistive structure and electrodes that can be changed depending on the required geometry. The backend is the electronic circuit for resistance tomography, which can be used for various frontend geometries. To evaluate the use of a unified backend for different frontend geometries, two frontend specimens with a square shape and a circular shape are tested. The minimum detectable contact force and the minimum discernible contact distance are calculated as $$0.83 \\times 10^{-4}$$<\/jats:tex-math>\n \n 0.83<\/mml:mn>\n \u00d7<\/mml:mo>\n \n 10<\/mml:mn>\n \n -<\/mml:mo>\n 4<\/mml:mn>\n <\/mml:mrow>\n <\/mml:msup>\n <\/mml:mrow>\n <\/mml:math><\/jats:alternatives><\/jats:inline-formula>\u00a0N\/mm$$^2$$<\/jats:tex-math>\n \n \n 2<\/mml:mn>\n <\/mml:msup>\n <\/mml:math><\/jats:alternatives><\/jats:inline-formula>, 2.51\u00a0mm for the square-shaped frontend and $$1.19 \\times 10^{-4}$$<\/jats:tex-math>\n \n 1.19<\/mml:mn>\n \u00d7<\/mml:mo>\n \n 10<\/mml:mn>\n \n -<\/mml:mo>\n 4<\/mml:mn>\n <\/mml:mrow>\n <\/mml:msup>\n <\/mml:mrow>\n <\/mml:math><\/jats:alternatives><\/jats:inline-formula>\u00a0N\/mm$$^2$$<\/jats:tex-math>\n \n \n 2<\/mml:mn>\n <\/mml:msup>\n <\/mml:math><\/jats:alternatives><\/jats:inline-formula>, 3.42\u00a0mm for the circular-shaped frontend. The results indicated that the proposed electronic design strategy can be used to create tactile skins with different scales and geometries while keeping the same backend design.<\/jats:p>","DOI":"10.1007\/s11370-023-00502-5","type":"journal-article","created":{"date-parts":[[2024,1,8]],"date-time":"2024-01-08T14:02:10Z","timestamp":1704722530000},"page":"75-83","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Frontend and backend electronics achieving flexibility and scalability for tomographic tactile sensing"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4694-7561","authenticated-orcid":false,"given":"Alberto","family":"S\u00e1nchez-Delgado","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keshav","family":"Garg","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cor","family":"Scherjon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8984-7870","authenticated-orcid":false,"given":"Hyosang","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,1,8]]},"reference":[{"key":"502_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","volume":"26","author":"RS Dahiya","year":"2010","unstructured":"Dahiya RS, Metta G, Valle M, Sandini G (2010) Tactile sensing: from humans to humanoids. IEEE Trans Robot 26:1\u201320","journal-title":"IEEE Trans Robot"},{"key":"502_CR2","doi-asserted-by":"publisher","first-page":"2653","DOI":"10.3390\/s17112653","volume":"17","author":"L Zou","year":"2017","unstructured":"Zou L, Ge C, Wang ZJ, Cretu E, Li X (2017) Novel tactile sensor technology and smart tactile sensing systems: a review. Sensors 17:2653","journal-title":"Sensors"},{"key":"502_CR3","doi-asserted-by":"publisher","first-page":"1900090","DOI":"10.1002\/aisy.201900090","volume":"1","author":"C Wang","year":"2019","unstructured":"Wang C, Dong L, Peng D, Pan C (2019) Tactile sensors for advanced intelligent systems. Adv Intell Syst 1:1900090","journal-title":"Adv Intell Syst"},{"key":"502_CR4","doi-asserted-by":"publisher","first-page":"2005902","DOI":"10.1002\/adma.202005902","volume":"33","author":"S Pyo","year":"2021","unstructured":"Pyo S, Lee J, Bae K, Sim S, Kim J (2021) Recent progress in flexible tactile sensors for human-interactive systems: from sensors to advanced applications. Adv Mater 33:2005902","journal-title":"Adv Mater"},{"key":"502_CR5","doi-asserted-by":"publisher","first-page":"343","DOI":"10.1007\/s43154-021-00065-2","volume":"2","author":"P Roberts","year":"2021","unstructured":"Roberts P, Zadan M, Majidi C (2021) Soft tactile sensing skins for robotics. Curr Robot Rep 2:343\u2013354","journal-title":"Curr Robot Rep"},{"key":"502_CR6","doi-asserted-by":"publisher","first-page":"1904765","DOI":"10.1002\/adma.201904765","volume":"31","author":"JC Yang","year":"2019","unstructured":"Yang JC et al (2019) Electronic skin: recent progress and future prospects for skin-attachable devices for health monitoring, robotics, and prosthetics. Adv Mater 31:1904765","journal-title":"Adv Mater"},{"key":"502_CR7","doi-asserted-by":"publisher","first-page":"605","DOI":"10.1109\/TRO.2015.2414135","volume":"31","author":"NF Lepora","year":"2015","unstructured":"Lepora NF et al (2015) Tactile superresolution and biomimetic hyperacuity. IEEE Trans Robot 31:605\u2013618","journal-title":"IEEE Trans Robot"},{"key":"502_CR8","doi-asserted-by":"publisher","first-page":"39837","DOI":"10.1038\/srep39837","volume":"7","author":"H Lee","year":"2017","unstructured":"Lee H, Kwon D, Cho H, Park I, Kim J (2017) Soft nanocomposite based multi-point, multi-directional strain mapping sensor using anisotropic electrical impedance tomography. Sci Rep 7:39837","journal-title":"Sci Rep"},{"key":"502_CR9","doi-asserted-by":"publisher","first-page":"eabm0608","DOI":"10.1126\/scirobotics.abm0608","volume":"7","author":"H Sun","year":"2022","unstructured":"Sun H, Martius G (2022) Guiding the design of superresolution tactile skins with taxel value isolines theory. Sci Robot 7:eabm0608","journal-title":"Sci Robot"},{"key":"502_CR10","doi-asserted-by":"publisher","first-page":"eabc8801","DOI":"10.1126\/scirobotics.abc8801","volume":"6","author":"Y Yan","year":"2021","unstructured":"Yan Y et al (2021) Soft magnetic skin for super-resolution tactile sensing with force self-decoupling. Sci Robot 6:eabc8801","journal-title":"Sci Robot"},{"key":"502_CR11","doi-asserted-by":"publisher","first-page":"2001","DOI":"10.1109\/JSEN.2014.2375346","volume":"15","author":"D Silvera-Tawil","year":"2015","unstructured":"Silvera-Tawil D, Rye D, Soleimani M, Velonaki M (2015) Electrical impedance tomography for artificial sensitive robotic skin: a review. IEEE Sens J 15:2001\u20132016","journal-title":"IEEE Sens J"},{"key":"502_CR12","doi-asserted-by":"publisher","first-page":"11525","DOI":"10.1038\/s41598-020-68432-1","volume":"10","author":"G Ma","year":"2020","unstructured":"Ma G, Soleimani M (2020) A versatile 4d capacitive imaging array: a touchless skin and an obstacle-avoidance sensor for robotic applications. Sci Rep 10:11525","journal-title":"Sci Rep"},{"key":"502_CR13","doi-asserted-by":"crossref","unstructured":"Liu X, Yang W (2023) Robot sensing based on electrical capacitance tomography sensor with rotation. Meas Sci Technol 34:085125","DOI":"10.1088\/1361-6501\/acd56e"},{"key":"502_CR14","doi-asserted-by":"publisher","first-page":"eabm7187","DOI":"10.1126\/scirobotics.abm7187","volume":"7","author":"K Park","year":"2022","unstructured":"Park K et al (2022) Biomimetic robotic skin implemented with hydrogel-elastomer hybrids and tomographic imaging methods. Sci Robot 7:eabm7187","journal-title":"Sci Robot"},{"key":"502_CR15","doi-asserted-by":"crossref","unstructured":"Park K, Park H, Lee H, Park S, Kim J (2020) An ERT-based robotic skin with sparsely distributed electrodes: structure, fabrication, and DNN-based signal processing. IEEE, pp 1617\u20131624","DOI":"10.1109\/ICRA40945.2020.9197361"},{"key":"502_CR16","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1023\/A:1008932328457","volume":"6","author":"N Hardy","year":"1999","unstructured":"Hardy N, Ahmad A (1999) De-coupling for re-use in design and implementation using virtual sensors. Auton Robot 6:265\u2013280","journal-title":"Auton Robot"},{"key":"502_CR17","doi-asserted-by":"publisher","DOI":"10.1201\/9781420034462","volume-title":"Electrical impedance tomography: methods, history and applications","author":"DS Holder","year":"2004","unstructured":"Holder DS (2004) Electrical impedance tomography: methods, history and applications. CRC Press, Boca Raton"},{"key":"502_CR18","doi-asserted-by":"publisher","first-page":"085036","DOI":"10.1088\/1361-665X\/ac0c2e","volume":"38","author":"H Lee","year":"2021","unstructured":"Lee H, Park K, Kim J, Kuchenbecker KJ (2021) Piezoresistive textile layer and distributed electrode structure for soft whole-body tactile skin. Smart Mater Struct 38:085036","journal-title":"Smart Mater Struct"},{"key":"502_CR19","unstructured":"Lionheart WRB, Paridis K, Adler A (2012) Resistor networks and transfer resistance matrices"},{"key":"502_CR20","doi-asserted-by":"publisher","first-page":"S65","DOI":"10.1088\/0967-3334\/27\/5\/S06","volume":"27","author":"B Graham","year":"2006","unstructured":"Graham B, Adler A (2006) Objective selection of hyperparameter for EIT. Physiol Meas 27:S65","journal-title":"Physiol Meas"},{"key":"502_CR21","doi-asserted-by":"publisher","first-page":"681","DOI":"10.1109\/42.251118","volume":"12","author":"K Paulson","year":"1993","unstructured":"Paulson K, Lionheart W, Pidcock M (1993) Optimal experiments in electrical impedance tomography. IEEE Trans Med Imaging 12:681\u2013686","journal-title":"IEEE Trans Med Imaging"},{"key":"502_CR22","volume-title":"Statistical methods for detection and quantification of environmental contamination","author":"RD Gibbons","year":"2001","unstructured":"Gibbons RD, Coleman DE, Coleman DD (2001) Statistical methods for detection and quantification of environmental contamination. Wiley"},{"key":"502_CR23","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1109\/TMI.1986.4307752","volume":"5","author":"D Isaacson","year":"1986","unstructured":"Isaacson D (1986) Distinguishability of conductivities by electric current computed tomography. IEEE Trans Med Imaging 5:91\u201395","journal-title":"IEEE Trans Med Imaging"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00502-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-023-00502-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-023-00502-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,30]],"date-time":"2024-01-30T12:22:42Z","timestamp":1706617362000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-023-00502-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1]]},"references-count":23,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,1]]}},"alternative-id":["502"],"URL":"https:\/\/doi.org\/10.1007\/s11370-023-00502-5","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"type":"print","value":"1861-2776"},{"type":"electronic","value":"1861-2784"}],"subject":[],"published":{"date-parts":[[2024,1]]},"assertion":[{"value":"29 September 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 December 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 January 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}