Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping

A simple and rapid method to manufacture all-elastomer robot skins with normal and shear force sensing is presented. The milling-based approach creates reusable molds with microscale features over a large area, and the tactile sensors can operate via contact resistance or capacitance. A contact resistance sensor is incorporated into a 1 degree-of-freedom robotic gripper for closed-loop slip detection. As a service to our authors and readers, this journal provides supporting information supplied by the authors. Such materials are peer reviewed and may be re-organized for online delivery, but are not copy-edited or typeset. Technical support issues arising from supporting information (other than missing files) should be addressed to the authors. Please note: The publisher is not responsible for the content or functionality of any supporting information supplied by the authors. Any queries (other than missing content) should be directed to the corresponding author for the article.