This project aims to create a stretchable and flexible tactile sensor underlayer, anchored by the skeletal structural components of the hand, that can cover and deform with the robotic movement without a deterioration of function and performance. The fine-grained arrayed sensor underlayer will address gaps in flexibility, conformability, scalability, integrability, multi-modality, manufacturability, and repeatability. The system will mate with a glove-like skin in a companion project to enable overall system durability.

Stretchable and conformable tactile skin is adhered to the hand skeletal components. Far right is a prior prototype of stretchable electronic skin.