Rapid Manufacturing of Mechanoreceptive Skins for Slip Detection in Robotic Grasping

A simple and rapid method to manufacture all-elastomer robot skins with normal and shear force sensing is presented. The milling-based approach creates reusable molds with microscale features over a large area, and the tactile sensors can operate via contact resistance or capacitance. A contact resistance sensor is incorporated into a 1 degree-of-freedom robotic gripper for closed-loop slip detection.