Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution and sensitivity of single-modal detection with high-cost components and densely integrated design, incurring complex manufacturing processes and unaffordable prices. In this work, we present Bio-Skin, a cost-effective multi-modal tactile sensor that utilizes single-axis Hall-effect sensors for planar normal force measurement and bar-shape piezo resistors for 2D shear force measurement. A thermistor coupling with a heating wire is integrated into a silicone body to achieve temperature sensation and thermostatic function analogous to human skin. We also present a cross-reference framework to validate the two modalities of the force sensing signal, improving the sensing fidelity in a complex electromagnetic environment. Bio-Skin has a multi-layer design, and each layer is manufactured sequentially and subsequently integrated, thereby offering a fast production pathway. After calibration, Bio-Skin demonstrates performance metrics-including signal-to-range ratio, sampling rate, and measurement range-comparable to current commercial products, with one-tenth of the cost. The sensor's real-world performance is evaluated using an Allegro hand in object grasping tasks, while its temperature regulation functionality was assessed in a material detection task.

翻译：触觉传感器能够通过提供接触信息来促进类人交互，从而显著增强仿人机器人系统的感知能力。然而，现有的商用触觉传感器侧重于采用高成本元件和密集集成设计来提高单模态检测的分辨率和灵敏度，这导致了复杂的制造工艺和难以承受的价格。在本工作中，我们提出了Bio-Skin，一种经济高效的多模态触觉传感器，它利用单轴霍尔效应传感器进行平面法向力测量，并利用条形压阻元件进行二维剪切力测量。我们将热敏电阻与加热丝耦合，集成到硅胶体中，实现了类似于人体皮肤的温度感知和恒温功能。我们还提出了一种交叉参考框架，用于验证力传感信号的两种模态，从而在复杂电磁环境中提高传感保真度。Bio-Skin采用多层设计，每层依次制造并随后集成，从而提供了快速的生产途径。经过校准后，Bio-Skin在信号范围比、采样率和测量范围等性能指标上均与当前商用产品相当，而成本仅为后者的十分之一。我们使用Allegro手在物体抓取任务中评估了传感器的实际性能，并在材料检测任务中评估了其温度调节功能。