Force and Thermal Sensing Skin

                      

Design Files 

The Fabric-Based Force and Thermal Sensing Skin has three sensing modalities: force, self-heated thermistors for active thermal sensing, and unheated thermistors for passive thermal sensing.  The skin has 13 force sensing taxels, 1 at the end and 12 around the circumference. Each taxel has includes two active and two passive thermal sensors as shown in the picture.