Science Robotics

The PDF file includes:

• Fig. S1. Schematics of the position of the different capacitors or “pixels” around a hill.
• Fig. S2. Measured response characteristics of the biomimetic e-skin.
• Fig. S3. Experimental setup used to characterize the e-skin.
• Fig. S4. Response time of sensor.
• Fig. S5. Optimization of the separation distance d between the top and bottom electrodes of the capacitors in zone 2 (capacitors located at the top of the hills).
• Fig. S6. Optimization of the e-skin regarding the time response (zone 2, capacitors located at the top of the hills).
• Fig. S7. Experiments with e-skin mounted on a robot arm.
• Legends for movies S1 to S3

Download PDF

Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). The robot arm correctly interrupts its preprogrammed movement in downward direction as soon as shear force is detected and the ball touches the test plate at a location with no hole.
• Movie S2 (.mp4 format). The high sensitivity of the e-skin allows for interaction with fragile, deformable, and delicate objects such as a fresh raspberry (when tactile sensing is activated, the e-skin senses the contact with raspberry and the robot arm moves in upward direction without damaging the fruit).
• Movie S3 (.mp4 format). When tactile sensing is not activated, the fruit is crushed.