This work describes the development of a quasi-distributed real-time tactile sensing system with a reduced number of fiber Bragg grating-based sensors and reports its use with a reconstruction method based on differential evolution. The sensing system is comprised of six fiber Bragg gratings encapsulated in silicone elastomer to form a tactile sensor array with total dimensions of 60 × 80 mm, divided into eight sensing cells with dimensions of 20 × 30 mm. Forces applied at the central position of the sensor array resulted in linear response curves for the gratings, highlighting their coupled responses and allowing the application of compressive sensing. The reduced number of sensors regarding the number of sensing cells results in an undetermined inverse problem, solved with a compressive sensing algorithm with the aid of differential evolution method. The system is capable of identifying and quantifying up to four different loads at four different cells with relative errors lower than 10.5% and signal-to-noise ratio better than 12 dB.
Neuromorphic tactile sensor array based on fiber Bragg gratings to encode object qualities
