Multi-functional Smart Skin for Multi-dimensional Perception for Humanoid Robots

Artificial smart skins capable of interacting with people and sensing environmental stimuli have become a research topic in humanoid robotic applications. However, previously reported architectures suffer difficulties in achieving multi-dimensional sensing in a simple structure with a low system cost. To address this issue, in this paper, an artificial smart skin constructed with polyimide/copper/polyvinylidene fluoride (PVDF) is presented for detecting 2D-position, proximity, dynamic force, and humidity via a smart combination of piezoelectric- and capacitive-effects. The proposed system achieves overall force and capacitive sensitivities of 0.051 N and 8.7 fF; the humidity measurements show a responsivity at 0.20%/RH% over a relative humidity range of 10%–90% RH. And a follow-up filtering algorithm is proposed to separate the stimuli associated with capacitance changes (position, proximity, and humidity). This simple-structured device supports multiple functions with its low system cost, thus advancing the field of robotics smart skins.