Whole-body tactile sensing is essential for humans to perform activities of daily living (ADLs). To enable robots to safely interact with the environment and assist humans with ADLs, a soft tactile whole-arm sensing robotic skin provides both passive and active protection. This work presents the design and fabrication of the soft fabric-based capacitive skin. The whole-arm robotic skin’s performance under different resolutions, contact areas, and amount stretched are evaluated. The skin is implemented on a robot arm to perform an assistive limb repositioning task in a user study. The result shows that our soft skin adds comfort and safety to the physical human-robot interaction.

整体触觉感知对于人类进行基础生活活动（ADLs）至关重要。为了使机器人能够安全地与环境进行交互并协助人类进行日常生活活动，软性触觉全臂感知机器人皮肤为机械臂和人类提供了被动和主动保护。本文介绍了软性基于织物的电容皮肤传感器的设计和制造。评估了整臂机器人皮肤在不同分辨率、接触面积和拉伸量下的性能。该皮肤被应用在机器人手臂上，进行了用户研究中的辅助肢体重新定位任务。结果显示，我们的软性皮肤为人机物理交互增添了舒适性和安全性。