WiReSens Toolkit: An Open-source Platform towards Accessible Wireless Tactile Sensing

TL;DR

WiReSens Toolkit addresses scalable, resistive tactile sensing by delivering an open-source platform that couples a zero-potential readout circuit with a web-based GUI to manage multi-device setups, adaptive readouts, and energy-efficient wireless transmission across Wi‑Fi, BLE, and ESP-NOW. The system includes automatic sensitivity calibration and intermittent data transmission to maximize sensor resolution and device lifetime, validated through a 11-participant usability study showing rapid device programming and calibration. Technical evaluation demonstrates robust multi-sender wireless performance, improved pressure resolution across varied sensors, and substantial power savings, while example applications (musical gloves, gait-shole soles, and smart-home interfaces) illustrate rapid prototyping. Overall, WiReSens provides a practical, accessible path toward large-scale, interactive tactile sensing in diverse domains, with potential for extension to other modalities and on-device learning.

Abstract

Past research has widely explored the design and fabrication of resistive matrix-based tactile sensors as a means of creating touch-sensitive devices. However, developing portable, adaptive, and long-lasting tactile sensing systems that incorporate these sensors remains challenging for individuals having limited prior experience with them. To address this, we developed the WiReSens Toolkit, an open-source platform for accessible wireless tactile sensing. Central to our approach is adaptive hardware for interfacing with resistive sensors and a web-based GUI that mediates access to complex functionalities for developing scalable tactile sensing systems, including 1) multi-device programming and wireless visualization across three distinct communication protocols 2) autocalibration methods for adaptive sensitivity and 3) intermittent data transmission for low-power operation. We validated the toolkit's usability through a user study with 11 novice participants, who, on average, successfully configured a tactile sensor with over 95\% accuracy in under five minutes, calibrated sensors 10x faster than baseline methods, and demonstrated enhanced tactile data sense-making.

Figures (12)

• Figure 1: Typical layout of a resistive matrix-based pressure sensing form factor, with a resistive layer sandwiched between two sets of orthogonally positioned electrodes.
• Figure 2: The WiReSens Toolkit web-based programming interface wirelessly records and displays pressure data from sensing devices (D) in real time, with panels to replay recordings (A), configure wireless protocols (B), and configure the devices themselves (C). The embroidered matt is configured to read only from the top-left quadrant and send readings via WiFi.
• Figure 3: (A) Adaptive zero-potential readout circuit open-sourced by WiReSens Toolkit in large (left) and small (right) sizes (B) Schematic of general zero potential readout circuit (left) with additional opamp and digital potentiometer for adaptivity (red).
• Figure 4: Average throughput (A) and average percentage of packets lost (B) per sender during multi-sender wireless communication using Wi-Fi, BLE, and ESP-NOW.
• Figure 5: WiReSens Toolkit calibrates readout for different sensors and application scenarios (A) Average and standard deviation of ADC readout for four different resistive pressure sensors during cyclical force tests, before and after calibration. (B) Average ADC readout during low and high-pressure application cycles, before and after calibration. Low-pressure calibration maximizes pressure resolution (blue and yellow curves) and High-pressure calibration avoids saturation (red and brown curves).