Design of artificial skin with integrated tactile sensors for anthropomorphic robotic hands

In order to provide anthropomorphic robotic hands with adequate frictional contact and proper tactile sensing during dexterous manipulation it is necessary to develop artificial skin that is easy-to-implement and compatible with existing designs of robotic hands. In this paper, we detail the design of a set of artificial skin pads that can accommodate a complex surface topology for a variety of robotic hands. The multi-layered artificial skin is composed of deformable thermoplastic, 3D printed frame, force sensing tactile element (sensel), and a silicon rubber epidermis. The prototyping process makes the most of 3D printing technology, and takes important factors such as maintainability and modification into consideration. A unique design for the thumb web is proposed, a crucial component for stabilizing tools and trigger operated tasks. We also address the importance of biomimetically replicating the tapered fingertip of the human hand based on an analysis of stiffness at distal joints of a robotic hand while performing a precision grip. Overall, we show our skin design to be adaptable to different design constraints.