The acquisition electronics, based on Arduino DUE board (Figure 1), is designed to sequentially select all the taxels of the matrix and to measure their electrical resistance: rows are selected by sequentially providing the Vcc (3.3 V) using the Digital Ports of the microcontroller, while the 4 columns are identified through 4 different Analog Ports.
The resistive change related to the applied force, is converted to voltage by a resistive voltage divider, with the fixed resistance of 10 kOhm, and the voltage signal is digitised by an analogue-to-digital converter (12-bit ADC) integrated in an Arduino DUE board Figure 2.
Figure 1 - Electronic scheme: the matrix rows are connected to digital pins 9, 10, 11, 12; The matrix columns are connected to analogic pins: A0, A1, A2, A3 through a voltage divider with R=10 kOhm.
Figure 2 - Read-out circuit for the taxels
A firmware (Figure 3) designed with Arduino IDE is uploaded on the Arduino board and the digital values of the matrix are transmitted through the Serial Port.
Figure 3 - - Palpreast algorithm implemented in the firmware