This paper aims to present a modular multimodal flexible electronic skin that can be used for robot collision detection in human–robot interactions. This type of electronic skin will meet the requirements of performance indicators such as sensing mode, sensing domain coverage and dynamic data update rate in human–robot interactions.
The electronic skin uses a modular architecture, and the sensing module is designed to be adjustable in size so that it can be easily deployed on complex robot surfaces, increasing area coverage, reducing power consumption, and improving data update rates.
The authors evaluated electronic skin through experiments using a UR5 robot. Electronic skin has high static scene perception differentiation and dynamic scene perception abilities. Moreover, the robot realizes a high-speed collision response based on the electronic skin proposed in this study.
The proposed electronic skin provides crucial technical support for advancing robotic technologies, and holds promising prospects for industrial applications.
