3D打印柔性触觉皮肤，实现机器人全身高精度接触定位。
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
- 用可变形3D打印技术制作一体化导电层，通过阻抗变化感知触碰。
- 曲面原型在18个触点上平均定位误差仅6毫米，无需后处理。
- 适合需要全身触觉的人形机器人，降低定制化设计成本。
全身体感是人形机器人在高接触环境运行的必要条件，但传统阵列式触觉传感器存在面积扩展难、布线复杂及适配曲面能力差的问题。本文提出一种基于可调几何结构的增材制造工艺，实现柔性导电TPU层与导电贴片集成的共形电容层。该结构通过接触引起的边界电压变化，利用一步式高斯-牛顿算法重建触觉信息。我们首先表征了多层结构的电-机械设计空间，发现低电阻增强贴片与多孔导电TPU层能提升灵敏度并保持可打印性。随后在平面、U型曲面及iCub人脸仿形原型上验证触觉定位性能：曲面传感器在18个接触位置上的平均定位误差为6 mm，且无需监督后处理。结果表明，增材制造的断层成像触觉皮肤可显著减少人形机器人触觉覆盖的形态定制负担，为面向人机交互的大面积接触感知提供实用路径。
原文摘要 · Abstract (English)
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring complexity, and robot-specific curvature. We present a conformal electrical impedance tomography tactile skin fabricated through a geometry-adaptable additive-manufacturing workflow. A flexible conductive TPU layer forms a continuous sensing domain, while contact-induced coupling with conductive patches produces boundary voltage changes that are reconstructed using a one-step Gauss-Newton EIT solver. We first characterize the electromechanical design space of the layered structure and show that low-resistance contact-enhancement patches and a porous conductive TPU sensing layer improve sensitivity while preserving printability. We then validate contact localization on a planar prototype, a curved U-shaped prototype, and a qualitative iCub-face-shaped geometry. The curved sensor achieves a mean localization error of 6 mm over 18 contact positions without supervised post-processing. These results suggest that additively manufactured tomographic skins can reduce the morphology-specific redesign burden for humanoid tactile coverage and provide a practical route toward large-area contact sensing for human-centered deployment.
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