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Tweelie : tactile wheel-shaped sensor for force reconstruction and localization over curved spherical surface

Thijs Van Hauwermeiren (UGent) , Anatolii Sianov (UGent) , Annelies Coene (UGent) and Guillaume Crevecoeur (UGent)
(2025) IEEE SENSORS LETTERS. 9(3).
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Abstract
This letter introduces Tweelie: a tactile wheel-shaped sensor with soft elastomer skin based on barometric pressure transducers. Tweelie enables high impact force reconstruction and localization over a curved spherical surface. Multiple contacts occurring simultaneously can be detected and inferred over a 6457 mm2 surface. Based on the spatial distribution of 48 micro-electromechanical system (MEMS) sensors along a cylindrical surface, a graph is constructed to infer the contact state. The 3-D force localization is done by mapping the pressure readings onto an appropriate pressure distribution based on the shape of the Tweelie sensor; the 3-D force is obtained by integrating this distribution. Results show a localization error of 2∘ and regression error of less than 1 N for a single contact on rigid surface, enabling direct force localization and reconstruction for locomotion and other tactile applications.
Keywords
Sensors, Micromechanical devices, Force, Robots, Location awareness, Sensor phenomena and characterization, Surface reconstruction, Elastomers, Tactile sensors, Rubber, Sensor applications, barometric micro-electromechanical system (MEMS), robotic sensor, tactile sensor

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Citation

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MLA
Van Hauwermeiren, Thijs, et al. “Tweelie : Tactile Wheel-Shaped Sensor for Force Reconstruction and Localization over Curved Spherical Surface.” IEEE SENSORS LETTERS, vol. 9, no. 3, 2025, doi:10.1109/lsens.2025.3531939.
APA
Van Hauwermeiren, T., Sianov, A., Coene, A., & Crevecoeur, G. (2025). Tweelie : tactile wheel-shaped sensor for force reconstruction and localization over curved spherical surface. IEEE SENSORS LETTERS, 9(3). https://doi.org/10.1109/lsens.2025.3531939
Chicago author-date
Van Hauwermeiren, Thijs, Anatolii Sianov, Annelies Coene, and Guillaume Crevecoeur. 2025. “Tweelie : Tactile Wheel-Shaped Sensor for Force Reconstruction and Localization over Curved Spherical Surface.” IEEE SENSORS LETTERS 9 (3). https://doi.org/10.1109/lsens.2025.3531939.
Chicago author-date (all authors)
Van Hauwermeiren, Thijs, Anatolii Sianov, Annelies Coene, and Guillaume Crevecoeur. 2025. “Tweelie : Tactile Wheel-Shaped Sensor for Force Reconstruction and Localization over Curved Spherical Surface.” IEEE SENSORS LETTERS 9 (3). doi:10.1109/lsens.2025.3531939.
Vancouver
1.
Van Hauwermeiren T, Sianov A, Coene A, Crevecoeur G. Tweelie : tactile wheel-shaped sensor for force reconstruction and localization over curved spherical surface. IEEE SENSORS LETTERS. 2025;9(3).
IEEE
[1]
T. Van Hauwermeiren, A. Sianov, A. Coene, and G. Crevecoeur, “Tweelie : tactile wheel-shaped sensor for force reconstruction and localization over curved spherical surface,” IEEE SENSORS LETTERS, vol. 9, no. 3, 2025.
@article{01JJ6JGT2K1PFBKFF4WZM6WAVM,
  abstract     = {{This letter introduces Tweelie: a tactile wheel-shaped sensor with soft elastomer skin based on barometric pressure transducers. Tweelie enables high impact force reconstruction and localization over a curved spherical surface. Multiple contacts occurring simultaneously can be detected and inferred over a 6457 mm2 surface. Based on the spatial distribution of 48 micro-electromechanical system (MEMS) sensors along a cylindrical surface, a graph is constructed to infer the contact state. The 3-D force localization is done by mapping the pressure readings onto an appropriate pressure distribution based on the shape of the Tweelie sensor; the 3-D force is obtained by integrating this distribution. Results show a localization error of 2∘ and regression error of less than 1 N for a single contact on rigid surface, enabling direct force localization and reconstruction for locomotion and other tactile applications.}},
  articleno    = {{6003004}},
  author       = {{Van Hauwermeiren, Thijs and Sianov, Anatolii and Coene, Annelies and Crevecoeur, Guillaume}},
  issn         = {{2475-1472}},
  journal      = {{IEEE SENSORS LETTERS}},
  keywords     = {{Sensors,Micromechanical devices,Force,Robots,Location awareness,Sensor phenomena and characterization,Surface reconstruction,Elastomers,Tactile sensors,Rubber,Sensor applications,barometric micro-electromechanical system (MEMS),robotic sensor,tactile sensor}},
  language     = {{eng}},
  number       = {{3}},
  pages        = {{4}},
  title        = {{Tweelie : tactile wheel-shaped sensor for force reconstruction and localization over curved spherical surface}},
  url          = {{http://doi.org/10.1109/lsens.2025.3531939}},
  volume       = {{9}},
  year         = {{2025}},
}
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