Inflatable Robotic Skin with Internal ToF Sensors for Whole-Body Contact Detection
rsasaki0109 · x · 2026-08-25
This IROS 2026 research proposes an inflatable whole-body robotic skin using an inflatable envelope (like a Baymax costume) as the robotic skin shell. Distributed internal Time-of-Flight (ToF) sensors detect whole-body contact during dynamic physical human-robot interaction. The inflatable structure provides a safe standoff distance, while internal sensing reduces errors common in open-environment perception. Even small objects produce measurable deformation over a large area.
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