3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed artificial skins, we present a hybrid time-of-flight (ToF) and self-capacitance (SC) sensing skin that demonstrates multi-modal sensing integration, soft compliant coverings for impact absorption and pressure sensing, and a streamlined electrical interface between printed conductive traces and external electronics. We show that combining ToF and SC modalities enables contact detection, scene reconstruction, and pressure-correlated tactile responses with the compliant covering by deploying six artificial skin units with 40 sensing elements over an FR3 robot arm.

翻译：三维打印人造皮肤是实现全身触觉与接近传感覆盖的可扩展方案，但现有实现局限于单模态传感与刚性材料。为提升三维打印人造皮肤的实际可用性，我们提出一种融合飞行时间（ToF）与自电容（SC）传感的混合型皮肤，该皮肤实现了多模态传感集成、用于冲击吸收与压力感知的软性顺应覆盖层，以及打印导电线路与外部电子设备间的简化电气接口。通过在一个FR3机械臂上部署包含40个传感元件的六个人造皮肤单元，我们证明ToF与SC模态的结合能够实现接触检测、场景重建，以及利用顺应覆盖层产生与压力相关的触觉响应。