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However, realizing real\u2010time contact localization and intensity estimation on a robot body with a large area of continuous and complex surfaces is challenging. Herein, a novel large\u2010area conformal Kirigami structure that can be customized for complex geometries and transform small\u2010area planar sensor arrays into large\u2010area curved conformal e\u2010skin is proposed. This sensor network can effectively detect Lamb\/guided wave responses generated by transient hard contact. Additionally, a convolutional neural network\u2010based deep learning algorithm is implemented to decode the features of guided wave signals and predict the contact location and energy intensity on the robot surface. With the deep learning\u2010based method, the accuracy of collision localization can reach 2.85\u2009\u00b1\u20091.90\u2009mm and the prediction error of collision energy can reach 9.8\u2009\u00d7\u200910<jats:sup>\u22124<\/jats:sup>\u2009\u00b1\u20098.9\u2009\u00d7\u200910<jats:sup>\u22124<\/jats:sup>\u2009J. Demonstrations show that the proposed method can provide real\u2010time on\u2010site contact sensing, providing a promising solution for future intelligent human\u2013robot interaction.<\/jats:p>","DOI":"10.1002\/aisy.202400903","type":"journal-article","created":{"date-parts":[[2025,3,29]],"date-time":"2025-03-29T09:56:31Z","timestamp":1743242191000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Deep Learning Based Large\u2010Area Contact Sensing for Safe Human\u2013Robot Interaction Using Conformal Kirigami Structure\u2010Enabled Robotic E\u2010Skin"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1441-7259","authenticated-orcid":false,"given":"Rui","family":"Jiao","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"given":"Zhengjun","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8533-8673","authenticated-orcid":false,"given":"Ruoqin","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-2071-3733","authenticated-orcid":false,"given":"Qian","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"given":"Jiacheng","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"given":"Boyang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"given":"Simin","family":"Yang","sequence":"additional","affiliation":[{"name":"Academy of Interdisciplinary Studies The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"given":"Yang","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0702-342X","authenticated-orcid":false,"given":"Yik Kin","family":"Cheung","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0274-9256","authenticated-orcid":false,"given":"Fan","family":"Shi","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6899-9346","authenticated-orcid":false,"given":"Hongyu","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology  Kowloon Hong Kong SAR China"},{"name":"HKUST Shenzhen\u2010Hong Kong Collaborative Innovation Research Institute  Shenzhen Guangdong 518045 China"}]}],"member":"311","published-online":{"date-parts":[[2025,3,26]]},"reference":[{"key":"e_1_2_10_2_1","unstructured":"F.Sherwani M. 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