Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866913069066616832 |
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| author | Kohlbrenner, Carson Escobedo, Caleb Ray, Sayak Dickhans, Alexander Soukhovei, Anna Jackoski, Nickolaus Antieau, Lyle Roncone, Alessandro |
| author_facet | Kohlbrenner, Carson Escobedo, Caleb Ray, Sayak Dickhans, Alexander Soukhovei, Anna Jackoski, Nickolaus Antieau, Lyle Roncone, Alessandro |
| contents | 3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed artificial skins, we present a hybrid time-of-flight (ToF) and self-capacitance (SC) sensing skin that demonstrates multi-modal sensing integration, soft compliant coverings for impact absorption and pressure sensing, and a streamlined electrical interface between printed conductive traces and external electronics. We show that combining ToF and SC modalities enables contact detection, scene reconstruction, and pressure-correlated tactile responses with the compliant covering by deploying six artificial skin units with 40 sensing elements over an FR3 robot arm. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2604_25563 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials Kohlbrenner, Carson Escobedo, Caleb Ray, Sayak Dickhans, Alexander Soukhovei, Anna Jackoski, Nickolaus Antieau, Lyle Roncone, Alessandro Robotics 3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed artificial skins, we present a hybrid time-of-flight (ToF) and self-capacitance (SC) sensing skin that demonstrates multi-modal sensing integration, soft compliant coverings for impact absorption and pressure sensing, and a streamlined electrical interface between printed conductive traces and external electronics. We show that combining ToF and SC modalities enables contact detection, scene reconstruction, and pressure-correlated tactile responses with the compliant covering by deploying six artificial skin units with 40 sensing elements over an FR3 robot arm. |
| title | Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.25563 |