# Single and bi-layered 2-D acoustic soft tactile skin (AST2)

arXiv: https://arxiv.org/abs/2401.14292 · HTML: https://mlsanity.com/paper/2401.14292/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 25 references that are in the map.
- First posted on arXiv 25 Jan 2024.

## Builds on (most cited first, 6 of 6)

- [DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation](https://mlsanity.com/paper/2005.14679/) (2020)
- [Action Conditioned Tactile Prediction: case study on slip prediction](https://mlsanity.com/paper/2205.09430/) (2022)
- [Proactive slip control by learned slip model and trajectory adaptation](https://mlsanity.com/paper/2209.06019/) (2022)
- [Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic End-effector Design](https://mlsanity.com/paper/2207.12552/) (2022)
- [Acoustic Soft Tactile Skin (AST Skin)](https://mlsanity.com/paper/2303.17355/) (2023)
- [A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing](https://mlsanity.com/paper/2208.10218/) (2022)

## Abstract (arXiv)

This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in achieving precise tactile feature estimation, especially concerning contact geometry characteristics, using cost-effective solutions. We hypothesise that by harnessing acoustic energy through dedicated acoustic channels in 2 layers beneath the sensing surface and analysing amplitude modulation, we can effectively decode interactions on the sensory surface, thereby improving tactile feature estimation. Our approach involves the distinct separation of hardware components responsible for emitting and receiving acoustic signals, resulting in a modular and highly customizable skin design. Practical tests demonstrate the effectiveness of this novel design, achieving remarkable precision in estimating contact normal forces (MAE < 0.8 N), 2D contact localisation (MAE < 0.7 mm), and contact surface diameter (MAE < 0.3 mm). In conclusion, the AST skin, with its innovative design and modular architecture, successfully addresses the challenge of tactile feature estimation. The presented results showcase its ability to precisely estimate various tactile features, making it a practical and cost-effective solution for robotic applications.