Huang, Yunqi;
Hardman, David;
Bascucci, Christopher;
Clemens, Frank;
Thuruthel, Thomas G;
(2025)
Design and Modelling of Electrical Impedance Tomography-based 3D-Printed Patterned Soft Tactile skins.
In:
IEEE International Conference on Soft Robotics (RoboSoft) - Proceedings.
IEEE (Institute of Electrical and Electronics Engineers): Lausanne, Switzerland.
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Abstract
The ability to estimate contact information is becoming increasingly relevant for robotic applications. Consequently, there is a growing need for technologies that can provide dense and distributed contact information in a compact form factor. This work presents the design and modeling of a thin-form-factor tactile skin based on electrical impedance tomography measurements. This technology enables the creation of tactile skins of arbitrary size without requiring any embedded electronic components. We demonstrate how patterning these 3D-printed skins can improve the accuracy and precision of contact localization and force estimation. A comprehensive framework for the automatic fabrication and calibration of tactile skins is presented, paving the way for customizable soft tactile skins.
| Type: | Proceedings paper |
|---|---|
| Title: | Design and Modelling of Electrical Impedance Tomography-based 3D-Printed Patterned Soft Tactile skins |
| Event: | 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft) |
| Dates: | 22 Apr 2025 - 26 Apr 2025 |
| ISBN-13: | 979-8-3315-2021-2 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/RoboSoft63089.2025.11020951 |
| Publisher version: | https://doi.org/10.1109/RoboSoft63089.2025.1102095... |
| Language: | English |
| Additional information: | This version is the author-accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Location awareness, Fabrication, Impedance measurement, Contacts, Force, Estimation, Electronic components, Soft robotics, Skin, Impedance |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10211423 |
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