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Journal of Sensors
Volume 2015, Article ID 647427, 12 pages
Research Article

Resolution Enhancement Method Used for Force Sensing Resistor Array

1Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26505, USA
2Department of Electrical and Computer Engineering, University of West Florida, Pensacola, FL 32514, USA

Received 8 October 2014; Accepted 18 December 2014

Academic Editor: Aldo Minardo

Copyright © 2015 Karen Flores De Jesus et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Tactile sensors are one of the major devices that enable robotic systems to interact with the surrounding environment. This research aims to propose a mathematical model to describe the behavior of a tactile sensor based on experimental and statistical analyses and moreover to develop a versatile algorithm that can be applied to different tactile sensor arrays to enhance the limited resolution. With the proposed algorithm, the resolution can be increased up to twenty times if multiple measurements are available. To verify if the proposed algorithm can be used for tactile sensor arrays that are used in robotic system, a force sensing array (FSR) is adopted. The acquired two-dimensional measurements were processed by a resolution enhancement method (REM) to enhance the resolution, which can be used to improve the resolution for single image or multiple measurements. As a result, the resolution of the sensor is increased and it can be used as synthetic skin to identify accurate shapes of objects and applied forces.