The design and fabrication of a wearable lattice-patterned 3D sensing skin

Abstract

Skin-like sensors hold promise in enhancing spatial perception in wearables and robotics applications. Key attributes sought in sensing skins include flexibility, high sensitivity and resolution, and the ability to conform to 3D geometries. We present a 3D piezoresistive tactile sensing skin comprising a lattice-patterned network of carbon black/silicone composite embedded in a silicone substrate. We employed electrical impedance tomography (EIT) to map applied pressure over the surface of the sensing skin. The sensing skin offered linear response with high sensitivity (0.07-0.4 kPa−1 over 38-115 kPa), low drift (4.85% at 50 kPa), and rapid response/recovery (12-72 ms). The sensing skin was able to detect applied pressure with a ±5% accuracy at >96% of the loaded area. The position error was on average ~2%, and the multi-touch response aligned with the applied pressure configurations. Future research will aim to tailor the lattice pattern for optimized sensitivity and resolution characteristics.