High-Performance Combination of Low Resolution Tactile Images Using a Bit-Based Representation

  • Frederick Pollard
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)


Since the seminal work of Harmon[1] through to more recent reviews such as that of Dahiya et al.[2], the focus in the field of tactile sensing has been on creating sensors with resolutions as low as 1mm2. Such specifications are justified by the simplicity of manufacturing a single resolution of skin sensor for all possible applications. Unfortunately, this approach requires not only that a robot has some means of connecting to potentially millions of sensors, but more significantly that it has some means of processing the commensurately large volume of data. The work presented here reduces the volume of data that must be processed by allowing the requirement for high resolution sensors to be relaxed and by the novel use of the bitboard data structure that has been used to represent board games for computers as well as solve complex graph problems [3].


Tactile Sensing Composite Image Skin Sensor Fine Spacing Resolution Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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  1. 1.
    Harmon, L.D.: Robotic Taction for Industrial Assembly. Int. J. Rob. Res. 3(2), 72–76 (1984)CrossRefGoogle Scholar
  2. 2.
    Dahiya, R.S., Metta, G., Valle, M., Sandini, G.: Tactile Sensing – From Humans to Humanoids. IEEE Trans. Rob. 26(1), 1–20 (2010)CrossRefGoogle Scholar
  3. 3.
    Segundo, P.S., Galan, R., Matia, F., Rodriguez-Losada, D., Jimenez, A.: Efficient Search Using Bitboard Models. In: Proc. 18th IEEE Int. Conf. Tools with A.I., pp. 132–138 (2006)Google Scholar
  4. 4.
    van den Heever, D.J., Schreve, K., Scheffer, C.: Tactile Sensing Using Force Sens-ing Resistors and a Super-Resolution Algorithm. IEEE Sensors 9(1), 29–35 (2009)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Frederick Pollard
    • 1
  1. 1.Department of Electronic and Electrical EngineeringUniversity of BathBathUK

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