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A Hybrid-Frequency Sampling Tactile Sensing System Based on a Flexible Piezoresistive Sensor Array: Design and

Zhenxing Wang¹, Xuan Dou²

¹School of Computer and Information Engineering, Shanghai Polytechnic University, Shanghai 201209, China.

Sensors (Basel, Switzerland)

|March 14, 2026

Summary

This study introduces a novel hybrid-frequency sampling tactile sensing system using a flexible piezoresistive sensor array. The system achieves high-speed, reliable dynamic tactile perception with improved accuracy and durability for advanced robotics and human-machine interfaces.

Keywords:

Velostat sensor dynamic tactile perception electronic skin tactile array

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Area of Science:

Robotics and Automation
Materials Science and Engineering
Sensor Technology

Background:

Existing multi-channel tactile arrays suffer from response drift, inconsistent dynamics, and low temporal resolution.
Reliable real-time tactile perception under dynamic loading remains a significant challenge in current sensing systems.

Purpose of the Study:

To develop a hybrid-frequency sampling tactile sensing system for reliable and real-time tactile perception under dynamic loading.
To enhance temporal resolution and reduce system complexity in flexible piezoresistive sensor arrays.

Main Methods:

Integrated a flexible piezoresistive sensor array (34 nodes) with a real-time data acquisition module using a hybrid-frequency sampling strategy.
Utilized Register-Transfer Level (RTL) simulation for hardware scheduler verification.
Validated dynamic loading using a self-developed pressure comparison platform for ground-truth force measurement.

Main Results:

Achieved an effective acquisition bandwidth of ~36.9 kHz with repeatability better than 4.9% and robust mechanical durability.
Demonstrated a strong linear correlation (R² ≈ 0.98) between e-skin outputs and reference forces.
Successfully distinguished tactile stimuli and captured dynamic responses during finger stroking with multi-unit activation patterns.

Conclusions:

The proposed hybrid-frequency sampling system offers a practical and scalable hardware platform for dynamic tactile sensing.
Achieved ~10x enhancement in effective sampling capability compared to previous systems, reducing complexity.
Enables reliable dynamic tactile sensing for applications in robotics, human-machine interaction, and wearable systems.