Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909983925338112 |
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| author | Guo, Haoran Wang, Haoyang Li, Zhengxiong Tao, Lingfeng |
| author_facet | Guo, Haoran Wang, Haoyang Li, Zhengxiong Tao, Lingfeng |
| contents | Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution and sensitivity of single-modal detection with high-cost components and densely integrated design, incurring complex manufacturing processes and unaffordable prices. In this work, we present Bio-Skin, a cost-effective multi-modal tactile sensor that utilizes single-axis Hall-effect sensors for planar normal force measurement and bar-shape piezo resistors for 2D shear force measurement. A thermistor coupling with a heating wire is integrated into a silicone body to achieve temperature sensation and thermostatic function analogous to human skin. We also present a cross-reference framework to validate the two modalities of the force sensing signal, improving the sensing fidelity in a complex electromagnetic environment. Bio-Skin has a multi-layer design, and each layer is manufactured sequentially and subsequently integrated, thereby offering a fast production pathway. After calibration, Bio-Skin demonstrates performance metrics-including signal-to-range ratio, sampling rate, and measurement range-comparable to current commercial products, with one-tenth of the cost. The sensor's real-world performance is evaluated using an Allegro hand in object grasping tasks, while its temperature regulation functionality was assessed in a material detection task. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_07989 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection Guo, Haoran Wang, Haoyang Li, Zhengxiong Tao, Lingfeng Robotics Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution and sensitivity of single-modal detection with high-cost components and densely integrated design, incurring complex manufacturing processes and unaffordable prices. In this work, we present Bio-Skin, a cost-effective multi-modal tactile sensor that utilizes single-axis Hall-effect sensors for planar normal force measurement and bar-shape piezo resistors for 2D shear force measurement. A thermistor coupling with a heating wire is integrated into a silicone body to achieve temperature sensation and thermostatic function analogous to human skin. We also present a cross-reference framework to validate the two modalities of the force sensing signal, improving the sensing fidelity in a complex electromagnetic environment. Bio-Skin has a multi-layer design, and each layer is manufactured sequentially and subsequently integrated, thereby offering a fast production pathway. After calibration, Bio-Skin demonstrates performance metrics-including signal-to-range ratio, sampling rate, and measurement range-comparable to current commercial products, with one-tenth of the cost. The sensor's real-world performance is evaluated using an Allegro hand in object grasping tasks, while its temperature regulation functionality was assessed in a material detection task. |
| title | Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.07989 |