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Real-time pressure measurement using vision-based tactile sensor

In this paper, we introduce a real-time pressure measurement system. A soft material with gauge points is placed ahead of a micro camera, and the material's deformation reflects the pressure applied on it. The image processing circuit mainly consists of an image pre-processing module, a connected area labeled module and a centroid coordinate calculation module. Experiments are implemented to demonstrate the system's performance of pressure direction and magnitude measurement, which can get a real-time measurement with a speed of 25fps.