Sensorized Soft Skin for Dexterous Robotic Hands - ICRA 2024

A capable robotic hand requires an artificial skin for suitable grip and a sense of touch. We here propose sensorized soft skins for dexterous robotic hands. We introduce our multi-material 3D-printing technique for prototyping and silicone casting for skin manufacturing. Force and dynamic tests demonstrate the skin’s contribution to object manipulation. We show how piezoresistive pressure sensors add tactile sensing to the robotic hand and that we can identify different objects using a tSNE algorithm. Paper Title: Sensorized Soft Skin for Dexterous Robotic Hands Authors: Jana Egli (1), Benedek Forrai (1), Thomas Buchner (1), Jiangtao Su (2), Xiaodong Chen (2), and Robert K. Katzschmann (1) Affiliations: (1) ETH Zurich, (2) Nanyang Technological University Singapore Arxiv: