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Herein, a fluid\u2010driven soft robot skin with sensing and actuating function is successfully applied to a collaborative robot and working well with the host robot. The skin is an integration of sponge force sensors and pneumatic actuators. By altering the internal air pressure in pneumatic actuators, the developed robot skin can provide more than ten times tunable stiffness and sensitivity. In addition, the skin can reduce the peak force of the collision and achieve the actuating function. Using three\u2010dimensional printing and computer\u2010aided design, the skin is fabricated and attached to a collaborative robot conformally. Drawing upon the data acquisition and control system, the experiment for illustrating the applications of the CoboSkin is successfully performed. The skin provides the robot with multi\u2010functions, which are similar to the human muscle and skin attached to human bones. By mimicking human skin and muscle with tactile sensing function and stiffness tuning function, CoboSkin can enhance the adaptability of the robot to human daily life.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202000038","type":"journal-article","created":{"date-parts":[[2020,7,8]],"date-time":"2020-07-08T04:50:43Z","timestamp":1594183843000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Fluid\u2010Driven Soft CoboSkin for Safer Human\u2013Robot Collaboration: Fabrication and Adaptation"],"prefix":"10.1002","volume":"3","author":[{"given":"Wenzheng","family":"Heng","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8685-5426","authenticated-orcid":false,"given":"Geng","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gaoyang","family":"Pang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiqiu","family":"Ye","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Honghao","family":"Lv","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan","family":"Du","sequence":"additional","affiliation":[{"name":"First Affiliated Hospital of Zhejiang University School of Medicine Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guodong","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Engineering University of Glasgow  Glasgow G12 8LT UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhibo","family":"Pang","sequence":"additional","affiliation":[{"name":"Automation Technology ABB Corporate Research Sweden  Vasteras 72178 Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2020,7,8]]},"reference":[{"key":"e_1_2_7_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2839357"},{"key":"e_1_2_7_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2671428"},{"key":"e_1_2_7_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2018.2848518"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2018.2887301"},{"key":"e_1_2_7_6_1","doi-asserted-by":"publisher","DOI":"10.3390\/s19235197"},{"key":"e_1_2_7_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2683522"},{"key":"e_1_2_7_8_1","doi-asserted-by":"crossref","unstructured":"T.Kim J.Park S. 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