ArticleFrontiers in robotics and AI2026
SkinAxis: 3D force-sensing soft robotic skins balancing touch sensitivity and impact protection for safe pHRC.
Article in Frontiers in robotics and AI, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Physical human-robot collaboration (pHRC) requires robotic skins that simultaneously ensure impact safety, as established by ISO/TS 15066, and preserve touch sensitivity for delicate human interactions. Existing soft skins enhance compliance and multimodal sensing, but their design is rarely guided by a quantitative evaluation of the trade-off between touch sensitivity and impact mitigation, and systematic impact testing against ISO/TS 15066 limits is often absent. The SkinAxis modular soft robotic skin addresses this gap by embedding a compact 3D force sensor in the soft material, directly enabling touch localization, and using a material-based design that jointly optimizes quasi-static touch sensitivity and impact safety. This purpose is achieved by combining the mechanical properties of elastomeric materials, selected through dedicated mechanical tests, to identify a stiff elastomer that efficiently transfers forces to the sensor and a highly dissipative elastomer that absorbs impact energy. To highlight the trade-off achieved by the selected materials, two main designs are benchmarked: a single-material baseline and a hybrid patch with a compliant surface, a rigid load-transmission plate, and a stiff sensor support sleeve. The designs are compared in terms of quasi-static force sensitivity
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