[Research] Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection
Physical Demonstration: Real-world evaluation of Bio-Skin installed on the Allegro Hand V4, performing object grasping and contact temperature retention tasks.
Paper Abstract
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.
Physical Validation on Allegro Hand V4
Bio-Skin was installed on the Allegro Hand V4 and evaluated in object grasping and contact temperature retention tasks in the real world.
• Object Grasping Task
Bio-Skin was installed on the Allegro Hand V4 and used to grasp a plastic ball and a metal cup. The results showed distinct normal force distribution and shear force variation depending on the object shape, demonstrating the sensor's ability to identify different contact surfaces.
• Contact Temperature Retention Task
The Allegro Hand V4 with Bio-Skin grasped a piece of cardboard for 10 seconds. Thermal imaging showed that Bio-Skin's temperature retention on the cardboard closely matched that of a human hand, proving its ability to mimic the thermal print of human skin.
Key Takeaway
By installing Bio-Skin on the Allegro Hand V4, the sensor successfully performed object grasping and contact temperature retention tasks in the real world, achieving performance comparable to existing commercial products at approximately one-tenth of the cost.
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