International Journal of Robotics Research
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Electrical impedance tomography (EIT) is a technique used to estimate the internal conductivity of an electrically conductive body by using measurements made only at its boundary. If this body is made of a thin, flexible, and stretchable material that responds to touch with local changes in conductivity, it can be used to create an artificial sensitive skin. Mathematically, the EIT reconstruction problem is an ill-posed nonlinear inverse problem in which it is commonly assumed that electrodes are located only on the surface of the body. In a thin sensitive skin, however, electrodes can readily be located within the 2-D conducting domain. This paper compares existing electrode-drive patterns with new patterns in which a number of reference electrodes are located inside of the sensitive skin. Simulation results and experimental data show improvements in both resolution and robustness to noise of the reconstructed image. These improvements are shown to be consistent for several commonly used regularization methods.