Fabric-Based Force Sensing Skin
The Tactile Sensing Skin is made up of 25 sensing elements or taxels that cover the end effector, 2DoF wrist joint, and forearm of the robot Cody. A single taxel consists of two layers of Stretchable Nonconductive Fabric, two layers of Stretchable Conductive Fabric, and a single layer of Stretchable Resistive Fabric. Due to the 25 distinct taxels operating in parallel, the sleeve can detect multiple contacts simultaneously.
Fabric-Based Force and Thermal Sensing Skin
The Fabric-Based Force and Thermal Sensing Skin has three sensing modalities: force, self-heated thermistors for active thermal sensing, and unheated thermistors for passive thermal sensing. The skin has 13 force sensing taxels, 1 at the end and 12 around the circumference. Each taxel has includes two active and two passive thermal sensors as shown in the picture. More details here.
Multimodal Tactile Sensing Module (v1)
This Multimodal Tactile Sensor has an active thermal sensors, a passive thermal sensor, a fabric-based force sensor, a contact microphone, and an accelerometer mounted behind these elements to measure vibration and acceleration. In this version of the sensor the active thermal sensor is made from an HT10K Foil Heater/Thermistor that includes a separate resistive heater and thermistor for temperature measurement. More details here.
Multimodal Tactile Sensing Module (v2)
This 2nd iteration of Multimodal Tactile Sensor includes the same sensing modalities as version 1: active thermal sensors, a passive thermal sensor, a fabric-based force sensor, a contact microphone, and an accelerometer, however we replaced the HT10K Foil Heater/Thermistor with a self-heated thermistor for active thermal sensing. More details here.