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cs.RO2026
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring com…
cs.RO2025
Multi-Touch and Bending Sensing Using Electrical Impedance Tomography for Robotics
Haofeng Chen, Bedrich Himmel, Bin Li +2
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EI…
cs.RO2025
Pneumatic-Tomographic Tactile Skin for Multicontact Localization and Force Estimation
Haofeng Chen, Jiri Kubik, Bedrich Himmel +2
Tactile skins based on electrical impedance tomography (EIT) enable large-area contact localization with few electrodes, but suffer from nonuniform sensitivity that limits force es…