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Using electrical impedance tomography techniques, we accessed up to 863,040 conductive pathways across the membrane, allowing us to identify at least six distinct types of multimodal stimuli, including human touch, damage, multipoint insulated presses, and local heating. Through comprehensive physical testing, we demonstrate that the highly redundant and coupled sensory information from these pathways can be structured using data-driven techniques, selecting which pathways should be monitored for efficient multimodal perception. To demonstrate our approach\u2019s versatility, we cast the hydrogel into the shape and size of an adult human hand. Using our information structuring strategy, we demonstrate the hand\u2019s ability to predict environmental conditions, localize human touch, and generate proprioceptive data. Our framework addresses the challenge of physically extracting meaningful information in multimodal soft sensing, opening new directions for the information-led design of single-layer skins in sensitive systems.<\/jats:p>","DOI":"10.1126\/scirobotics.adq2303","type":"journal-article","created":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T13:58:14Z","timestamp":1749650294000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":39,"title":["Multimodal information structuring with single-layer soft skins and high-density electrical impedance tomography"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5102-0541","authenticated-orcid":true,"given":"David","family":"Hardman","sequence":"first","affiliation":[{"name":"Bio-Inspired Robotics Lab, University of Cambridge, Cambridge, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0571-1672","authenticated-orcid":true,"given":"Thomas George","family":"Thuruthel","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University College London, London, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9246-7190","authenticated-orcid":true,"given":"Fumiya","family":"Iida","sequence":"additional","affiliation":[{"name":"Bio-Inspired Robotics Lab, University of Cambridge, Cambridge, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","unstructured":"R. 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