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Abstract

In article number 1600188, Alexi Charalambides and Sarah Bergbreiter present a rapid manufacturing process using computerized numerical control (CNC) milling to create a “robot skin” with normal and shear force tactile sensing. The robot skin is made entirely of elastomer and contains tactile pixels with microscale features distributed over a large area. Using this approach, the robot skin is integrated with a 1 degree-off-reedom gripper for closed-loop grasping and slip detection.