Left: Each intersection between the horizontal and vertical stripes can be modeled as a variable resistor. The resistance decreases as pressure increases.
Right: (a): the read-out board contains an Arduino nano, two multiplexers and a reference resistor; and it reads values of the resistor matrix.
(b): the schematic of the readout circuit. Due to the highly resistive yarn, row/column margin resistors of resistance ∼ 3KΩ are not negligible. Behaviors of taxel unit variable resistors are explained in the left figure.