Multifunctional Tactile Feedbacks Towards Compliant Robot Manipulations via 3D-Shaped Electronic Skin

Abstract

Electronic skin (e-skin) has attracted considerable interests to endow robots the abundant perception abilities like human skin. However, multifunctional tactile feedbacks and poor wearability hinder the practical application towards compliant robot manipulations and friendly human-robot interaction (HRI). Here, a 3D-shaped e-skin integrated with hierarchically distributed flexible pressure, proximity, humidity sensors, and digital conversion circuits has been developed via the parting casting method. It can perfectly cover the non-developable and time-dynamic curved surface of a bionic hand and shows excellent wearability. The sensing data are collected by multichannel acquisition circuits and then sent to processing center to establish the mapping relations between multiple stimuli and movements of the bionic hand and arm. The multifunctional tactile feedbacks have been successfully demonstrated, which include non-contact obstacle avoidance, grasping force control, slip detection, and voice feedback. The e-skin shows great potential in the fields of HRI, artificial limbs, health care robots, and service robots.