Integrated Sensing in Robotic Skin Modules

Robotic skins combine actuation and sensing in a 2D, modular soft robot. Robotic skins can be attached to or wrapped around arbitrary objects to add robotic functionality, and they have been demonstrated in a variety of applications, including continuum robots and active wearables. However, the sensors and actuators in current robotic skins are not well integrated. The attachable and detachable components on robotic skins limit their efficiency and robustness compared to the biological systems with embedded multi-functionality they aim to rival. This work integrates sensors into active skins to create robotic skins with embedded actuation and sensing. Experiments demonstrate the skin's ability to reconstruct its perimeter within 0.59% and its vertex locations within 12.6% of its length scale. This work is the first step toward robotic skins with fully integrated sensing and actuation.