Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection

2025-03-11

AI Summary

Commercial tactile sensors suffer from high component costs and dense integration, hindering simultaneous multimodal perception and low-cost manufacturing. This work proposes Bio-Skin—a low-cost, biomimetic, multimodal tactile sensor—featuring a novel synergistic sensing architecture combining uniaxial Hall-effect and strip-shaped piezoresistive elements to concurrently measure normal force, 2D shear force, and temperature. It further integrates a thermistor–microheater closed-loop thermal regulation system. A cross-modal signal cross-validation framework is introduced to significantly enhance robustness against electromagnetic interference. Fabricated via multilayer sequential processing and silicone-based flexible encapsulation, Bio-Skin achieves one-tenth the cost of commercial counterparts while matching their performance in signal-to-noise ratio, sampling rate, and measurement range. Experimental validation on an Allegro hand demonstrates efficacy in grasp control and temperature-sensitive material identification, offering a practical tactile solution for natural human–robot interaction in humanoid robotics.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Humans and AI: Brain-Sensing and Analysis
• Computer Vision: Biometrics, Face, Gesture & Pose

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Search and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG
• Economics, Online Markets and Human Computation: Cost models of using LLMs in production systems

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.

Problem

• Develop cost-effective multi-modal tactile sensor
• Integrate force and temperature detection in one device
• Improve sensing fidelity in complex electromagnetic environments

Innovation

• Utilizes Hall-effect sensors for force measurement
• Integrates thermistor for temperature sensation
• Employs cross-reference framework for signal validation