Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips

A. Ascia*, M. Biso, A. Ansaldo, A. Schmitz, D. Ricci, L. Natale, G. Metta, G. Sandini

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.

Original languageEnglish
Title of host publicationIEEE Sensors 2011 Conference, SENSORS 2011
Number of pages4
Publication statusPublished - 2011
Externally publishedYes
Event10th IEEE SENSORS Conference 2011, SENSORS 2011 - Limerick, Ireland
Duration: 2011 Oct 282011 Oct 31

Publication series

NameProceedings of IEEE Sensors


Conference10th IEEE SENSORS Conference 2011, SENSORS 2011

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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