{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T15:05:31Z","timestamp":1759935931663,"version":"3.41.2"},"reference-count":20,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2014,10,20]],"date-time":"2014-10-20T00:00:00Z","timestamp":1413763200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,10,20]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 The aim of the research is to achieve a robot skin which is easy to use, and can detect both position and force interacted between robot and environments. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 The new type of robot skin proposed in this paper includes two functional modules \u2013 contact position sensor and contact force sensor. The contact position sensor module is based on the resistor divider principle, which consists of two perpendicular conductive fiber layers and insulated dot spacer between them. The contact force sensor module is based on capacitance change theory, which consists of two soft conductive plates and a viscoelastic layer between them. By combining the two modules, the soft robot skin was designed. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 Simulation and experiment results demonstrate that the proposed robot skin design is feasible and effective enough to sense contact position and contact force simultaneously. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title>\n               <jats:p> \u2013 This robot skin is low-cost and easy to make and use, which provides safety solutions for most of the robot. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 For the first time, an integrated robot skin which can get contact position and force information simultaneously is designed. Unlike general tactile sensor matrices, this robot skin has only six leads. Furthermore, the number of leads does not increase with the enlarging of sensor area. Soft and simple structure of the robot skin makes it possible to cover any region of the robot body.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-07-2014-0369","type":"journal-article","created":{"date-parts":[[2014,10,31]],"date-time":"2014-10-31T09:14:11Z","timestamp":1414746851000},"page":"534-542","source":"Crossref","is-referenced-by-count":7,"title":["A new robot skin for force and position detection"],"prefix":"10.1108","volume":"41","author":[{"given":"Haibin","family":"Wu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yixian","family":"Su","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinjin","family":"Shi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinwen","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinhua","family":"Ye","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2020122800461111900_b1","doi-asserted-by":"crossref","unstructured":"Ackerley, R.\n               , \n                  Wasling, H.B.\n               , \n                  Liljencrantz, J.\n               , \n                  Olausson, H.\n               , \n                  Johnson, R.D.\n                and \n                  Wessberg, J.\n                (2014), \u201cHuman C-tactile afferents are tuned to the temperature of a skin-stroking caress\u201d, \n                  The Journal of Neuroscience\n               , Vol. 34 No. 8, pp. 2879-2883.","DOI":"10.1523\/JNEUROSCI.2847-13.2014"},{"key":"key2020122800461111900_b2","doi-asserted-by":"crossref","unstructured":"Canavese, G.\n               , \n                  Stassi, S.\n               , \n                  Fallauto, C.\n               , \n                  Corbellini, S.\n               , \n                  Cauda, V.\n               , \n                  Camarchia, V.\n               , \n                  Pirola, A.\n                and \n                  Pirri, C.F.\n                (2014), \u201cPiezoresistive flexible composite for robotic tactile applications\u201d, \n                  Sensors and Actuators A: Physical\n               , Vol. 208 No. 2, pp. 1-9.","DOI":"10.1016\/j.sna.2013.11.018"},{"key":"key2020122800461111900_b4","doi-asserted-by":"crossref","unstructured":"Gery, B.L.\n                and \n                  Gottschlich, S.N.\n                (1994), \u201cA tactile sensing system for dexterous manipulation\u201d, Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Munich, Vol. 2, pp. 1384-1390.","DOI":"10.1109\/IROS.1994.407503"},{"key":"key2020122800461111900_b5","doi-asserted-by":"crossref","unstructured":"Goethals, P.\n               , \n                  Sette, M.M.\n               , \n                  Reynaerts, D.\n                and \n                  Van Brussel, H.\n                (2008), \u201cFlexible elastoresistive tactile sensor for minimally invasive surgery\u201d, \n                  Haptics: Perception, Devices and Scenarios\n               , Springer-Verlag, Berlin, Vol. 5024, pp. 573-579.","DOI":"10.1007\/978-3-540-69057-3_74"},{"key":"key2020122800461111900_b6","doi-asserted-by":"crossref","unstructured":"Ho, A.V.\n                and \n                  Hirai, S.\n                (2014), \u201cSlip perception via soft robotic skin made of electroconductive yarn\u201d, \n                  Mechanics of Localized Slippage in Tactile Sensing\n               , Springer-Verlag, Berlin, Vol. 99, pp. 113-154.","DOI":"10.1007\/978-3-319-04123-0_6"},{"key":"key2020122800461111900_b7","doi-asserted-by":"crossref","unstructured":"Inaba, M.\n               , \n                  Hoshino, Y.\n               , \n                  Nagasaka, K.\n               , \n                  Ninomiya, T.\n               , \n                  Kagami, S.\n                and \n                  Inoue, H.\n                (1996), \u201cA full-body tactile sensor suit using electrically conductive fabric and strings\u201d, Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Osaka, Vol. 2, pp. 450-457.","DOI":"10.1109\/IROS.1996.570816"},{"key":"key2020122800461111900_b8","doi-asserted-by":"crossref","unstructured":"Lee, H.K.\n               , \n                  Chung, J.\n               , \n                  Chang, S.I.\n                and \n                  Yoon, E.\n                (2011), \u201cReal-time measurement of the three-axis contact force distribution using a flexible capacitive polymer tactile sensor\u201d, \n                  Journal of Micromechanics and Microengineering\n               , Vol. 21 No. 3.","DOI":"10.1088\/0960-1317\/21\/3\/035010"},{"key":"key2020122800461111900_b9","unstructured":"Liu, L.\n                and \n                  Ren, L.J.\n                (1999), \u201cTactile measurement realized by capacitive sensor arrays\u201d, Electrical Measurement & Instrumentation, Vol. 36 No. 6, pp. 37-38, 36."},{"key":"key2020122800461111900_b10","unstructured":"Luo, Z.Z.\n                and \n                  Jiang, J.P.\n                (1999), \u201cA new method of data acquisition for piezoresistive robot tactile array\u201d, \n                  Chinese Journal of Scientific Instrument\n               , Vol. 20 No. 1, pp. 31-33, 48."},{"key":"key2020122800461111900_b11","doi-asserted-by":"crossref","unstructured":"Pan, Z.\n               , \n                  Cui, H.\n                and \n                  Zhu, Z.\n                (2003), \u201cA flexible full-body tactile sensor of low cost and minimal connections\u201d, IEEE International Conference on Systems, Man and Cybernetics, Washington, DC, Vol. 3, pp. 2368-2373.","DOI":"10.1109\/ICSMC.2003.1244238"},{"key":"key2020122800461111900_b12","doi-asserted-by":"crossref","unstructured":"Paschen, U.\n               , \n                  Leineweber, M.\n               , \n                  Amelung, J.\n               , \n                  Schmidt, M.\n                and \n                  Zimmer, G.\n                (1998), \u201cA novel tactile sensor system for heavy-load applications based on an integrated capacitive pressure sensor\u201d, \n                  Sensors and Actuators A: Physical\n               , Vol. 68 No. 1, pp. 294-298.","DOI":"10.1016\/S0924-4247(98)00021-1"},{"key":"key2020122800461111900_b13","unstructured":"Qin, L.\n                and \n                  Pei, L.Q.\n                (2011), \u201cCalibration research on a new type of tactile sensing suit array for intelligent robot\u201d, \n                  Transducer and Microsystem Technologies\n               , Vol. 30 No. 7, pp. 71-74."},{"key":"key2020122800461111900_b14","doi-asserted-by":"crossref","unstructured":"Reston, R.R.\n                and \n                  Kolesar, E.S.\n                (1990), \u201cRobotic tactile sensor array fabricated from a piezoelectric polyvinylidene fluoride film\u201d, Proceedings of the IEEE National Aerospace and Electronics Conference, Dayton, OH, pp. 1139-1144.","DOI":"10.1109\/NAECON.1990.112928"},{"key":"key2020122800461111900_b15","doi-asserted-by":"crossref","unstructured":"Seminara, L.\n               , \n                  Capurro, M.\n               , \n                  Cirillo, P.\n               , \n                  Cannata, G.\n                and \n                  Valle, M.\n                (2011), \u201cElectromechanical characterization of piezoelectric PVDF polymer films for tactile sensors in robotics applications\u201d, \n                  Sensors and Actuators A: Physical\n               , Vol. 169 No. 1, pp. 49-58.","DOI":"10.1016\/j.sna.2011.05.004"},{"key":"key2020122800461111900_b16","doi-asserted-by":"crossref","unstructured":"Shi, J.\n               , \n                  Wu, H.\n                and \n                  Ma, Z.\n                (2013), \u201cDesign of a new robot skin\u201d, \n                  Jiqiren(Robot)\n               , Vol. 35 No. 1, pp. 32-38.","DOI":"10.3724\/SP.J.1218.2013.00032"},{"key":"key2020122800461111900_b17","doi-asserted-by":"crossref","unstructured":"Shirafuji, S.\n                and \n                  Hosoda, K.\n                (2014), \u201cDetection and prevention of slip using sensors with different properties embedded in elastic artificial skin on the basis of previous experience\u201d, \n                  Robotics and Autonomous Systems\n               , Vol. 62 No. 1, pp. 46-52.","DOI":"10.1016\/j.robot.2012.07.016"},{"key":"key2020122800461111900_b18","doi-asserted-by":"crossref","unstructured":"Tiwana, M.I.\n               , \n                  Shashank, A.\n               , \n                  Redmond, S.J.\n                and \n                  Lovell, N.H.\n                (2011), \u201cCharacterization of a capacitive tactile shear sensor for application in robotic and upper limb prostheses\u201d, \n                  Sensors and Actuators A: Physical\n               , Vol. 165 No. 2, pp. 164-172.","DOI":"10.1016\/j.sna.2010.09.012"},{"key":"key2020122800461111900_b19","unstructured":"Wu, H.B.\n                and \n                  Yang, J.M.\n                (2011), \u201cProgress in robot safety research during human-robot interaction\u201d, \n                  Zhongguo Anquan Kexue Xuebao\n               , Vol. 21 No. 11, pp. 79-86."},{"key":"key2020122800461111900_b20","doi-asserted-by":"crossref","unstructured":"Zhang, Y.\n                (2010), \u201cSensitivity enhancement of a micro-scale biomimetic tactile sensor with epidermal ridges\u201d, \n                  Journal of Micromechanics and Microengineering\n               , Vol. 20 No. 8.","DOI":"10.1088\/0960-1317\/20\/8\/085012"},{"key":"key2020122800461111900_frd1","unstructured":"Ding, X.\n               , \n                  Kuribayashi, K.\n                and \n                  Hashida, T.\n                (2000), \u201cDevelopment of a new type tactile sensor using micro electromagnetic coil for human robot\u201d, Proceedings of International Symposium on Micromechatronics and Human Science, Nagoya, pp. 181-187."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/IR-07-2014-0369","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2014-0369\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2014-0369\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:26Z","timestamp":1753393166000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/41\/6\/534-542\/178173"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,10,20]]},"references-count":20,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2014,10,20]]}},"alternative-id":["10.1108\/IR-07-2014-0369"],"URL":"https:\/\/doi.org\/10.1108\/ir-07-2014-0369","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2014,10,20]]}}}