# Sensorized Soft Skin for Dexterous Robotic Hands

arXiv: https://arxiv.org/abs/2404.19448 · HTML: https://mlsanity.com/paper/2404.19448/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Apr 2024.

## Built on by (most cited first, 4 of 4)

- [ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data](https://mlsanity.com/paper/2406.19464/) (2024)
- [eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructures](https://mlsanity.com/paper/2506.09994/) (2025)
- [The Role of Touch: Towards Optimal Tactile Sensing Distribution in Anthropomorphic Hands for Dexterous In-Hand Manipulation](https://mlsanity.com/paper/2509.14984/) (2025)
- [TranTac: Leveraging Transient Tactile Signals for Contact-Rich Robotic Manipulation](https://mlsanity.com/paper/2509.16550/) (2025)

## Abstract (arXiv)

Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide range of objects. While the control of humanoid hands evolved greatly, hardware platforms still lack capabilities, particularly in tactile sensing and providing soft contact surfaces. In this work, we present a method that equips the skeleton of a tendon-driven humanoid hand with a soft and sensorized tactile skin. Multi-material 3D printing allows us to iteratively approach a cast skin design which preserves the robot's dexterity in terms of range of motion and speed. We demonstrate that a soft skin enables firmer grasps and piezoresistive sensor integration enhances the hand's tactile sensing capabilities.