Adaptive sampling gives OpenTac kHz tactile readouts and millisecond contact detection
_krishna_murthy · x · 2026-10-22
The OpenTac team replaced slow raster scanning (taxel-by-taxel) with adaptive sampling: a few samples quickly locate plausible contact regions, then sampling concentrates there. This yields kilohertz-rate readouts and catches millisecond-scale events like a bouncing tennis ball that raster scans miss.
Force accuracy was validated against a load cell: 0.1 N–10 N range, tunable via the piezoresistive element or electrode gap/resolution. The paper includes ablations comparing shear force estimates to commercial 6-axis F/T sensors.
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