Electronic Skin Design Methods Applied to Capsule Robot Electronic skin is also widely used in robots, which mainly sense relevant information of the outside world through tactile sensors, so highperformance tactile sensors are important indicators to determine the performance of robots. The tactile perception function of capsule robots plays an increasingly important role, especially in minimally invasive surgery and tumor detection. Electronic skin has also become a research hotspot in the field of capsule robots. Based on the bionic structure and structural design, material selection and experimental results of electronic skin, and by comparing the design and application of electronic skin at home and abroad, this paper proposes a design method of pressure tactile sensation based on graphene threedimensional array applied to capsule robots, which has the capability of sensing threedimensional pressure. The design method is expected to be popularized and applied in actual capsule robots, which is beneficial to the application and development of robot tactile sensing technology.

A Flexible Tactile Sensor Array Based on Conductive Rubber In this paper, a novel flexible tactile sensor array based on conductive rubber is presented. Compared with other research results, we use the materials with complete flexibility to fabricate the soft sensors. The sensing prototype includes polydimethylsiloxane (PDMS) as the sealing layers and conductive rubber as sensing layer. This proposed tactile sensor can measure the contact pressure under wrapping one curved surface. In our study, we developed a skinlike tactile sensor array from three aspects: design procedures, fabrication techniques and test results via taking one 8xc3x978 sensor array for example, which is a sandwich structure and the sensing material was laminated into a thin encapsulation film with 2mm in thickness. Furthermore, the sensor overcomes the fabrication complexity, chemical unsafety and environmental instability problems to some extent. In the end, the final experimental demonstration verify the feasibility of the sensor array with discrete sensing elements in measuring the tactile force via matlab.