# GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins

arXiv: https://arxiv.org/abs/2412.00711 · HTML: https://mlsanity.com/paper/2412.00711/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Dec 2024.

## Built on by (most cited first, 1 of 1)

- [Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance](https://mlsanity.com/paper/2604.25554/) (2026)

## Abstract (arXiv)

Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique demands of its operational context. In this work, we introduce GenTact Toolbox, a computational pipeline for creating versatile whole-body tactile skins tailored to both robot shape and application domain. Our method includes procedural mesh generation for conforming to a robot's topology, task-driven simulation to refine sensor distribution, and multi-material 3D printing for shape-agnostic fabrication. We validate our approach by creating and deploying six capacitive sensing skins on a Franka Research 3 robot arm in a human-robot interaction scenario. This work represents a shift from "one-size-fits-all" tactile sensors toward context-driven, highly adaptable designs that can be customized for a wide range of robotic systems and applications. The project website is available at https://hiro-group.ronc.one/gentacttoolbox