Modular, Multi-Layer e-Skin for Robotics Investigations and Applications

Like human skin, robotic electronic skin (e-skin) must protect the body from external threats and remain sensitive to the environment's characteristics while interacting with it. These conflicting requirements make e-skin design challenging. This work presents a modular, easy-to-replicate, and scalable bioinspired e-skin that uses layered silicone encapsulation with force-sensing arrays and accelerometers. This design enables control over the mechanical properties and sensor density, improving normal and shear force sensing and high-frequency vibration detection. The design allows us to seamlessly explore the mechanical properties of e-skin for sensing and adjust them for specific applications. We have characterized and systematically evaluated this e-skin using objects with controlled mechanical properties, demonstrating its ability to differentiate between texture, shape, and stiffness variations. Our e-skin design is versatile and can be adapted to various applications, including robotics, prosthetics, and virtual reality. The e-skin design files, code and documentation are available online, ensuring reproducibility and facilitating ongoing improvements.