Flexible tactile sensing based on electrical resistance tomography and wavelet image fusion

Tactile sensing is important for robots. Electrical resistance tomography (ERT) may provide a solution for tactile sensing and for large-area artificial skin. However, the resolution of reconstructed images by ERT is low. This paper proposes a new sensitivity matrix preprocessing method to make the sensitivity distribution more uniform and improve the imaging quality of the central area. To combine the characteristics of different images, image fusion based on discrete wavelet transform is used to eliminate redundant information and obtain accurate images. It has been proven by simulation and experiments that the proposed method is effective in improving the resolution of reconstructed images.