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CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction

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arxiv 2405.03155 v1 pith:4QK77KHC submitted 2024-05-06 cs.RO

Boxin Xu , Luoyan Zhong , Grace Zhang , Xiaoyu Liang , Diego Virtue , Rishabh Madan , Tapomayukh Bhattacharjee This is my paper · ORCID
classification cs.RO
keywords cushsenseinteractionphysicalskinstretchableaccuracyhuman-robotsoft
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abstract

Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot interaction (pHRI) tasks such as robotic caregiving. Using stretchable fabric and hyper-elastic polymer, CushSense identifies contacts by monitoring capacitive changes due to skin deformation. CushSense is cost-effective ($\sim$US\$7 per taxel) and easy to fabricate. We detail the sensor design and fabrication process and perform characterization, highlighting its high sensing accuracy (relative error of 0.58%) and durability (0.054% accuracy drop after 1000 interactions). We also present a user study underscoring its perceived safety and comfort for the assistive task of limb manipulation. We open source all sensor-related resources on https://emprise.cs.cornell.edu/cushsense.

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  1. TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation

    cs.RO 2026-07 conditional novelty 6.5 of 10

    A hybrid contact-centric MPC with tactile-vision latents and Jacobian-biased sampling outperforms pure learned and pure kinematic baselines on multi-contact whole-arm tasks in sim and on a manikin/maze robot.

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