Electric Fish-Inspired Proximity and Pressure Sensing Electronic Skin

Abstract

In the field of human-robot interaction, there is a growing demand for high-sensitivity proximity and pressure perception in sensor design. However, current sensing solutions often rely on the combination of several sensing principles, which presents challenges in signal acquisition, flexibility, and array integration. To overcome these challenges, we propose a flexible array of electronic skins, inspired by the electric field sensing mechanism in electric fish, capable of proximity and pressure sensing. The electronic skin consists of several key components, including an elastic layer, emitting electrodes, receiving electrodes, and a dielectric layer. By exploiting this simple yet effective our electronic skin is capable of generating electric fields through the emitting electrodes and detecting electric field disturbances through the receiving electrodes. This design enables simultaneous bimodal perception of proximity and pressure, allowing for a comprehensive understanding of the environment. One of the main advantages of our approach is its simplicity. By leveraging the electric fields as the sensing modality, we eliminate the need for complex combinations of multiple sensors. This not only simplifies the overall system design, but also reduces manufacturing cost and enhances scalability. Additionally, the use of electric fields enables real-time and accurate detection of both object proximity and applied pressure on the robot, leading to improved environmental awareness. To demonstrate the feasibility and effectiveness of our electronic skin, we conducted experiments on a robotic arm. The results of these experiments demonstrate the successful implementation of basic human-robot interactions using our proposed technique. This validation further emphasizes the potential and practicality of our approach.