Dual-Mode Electronic Skin Based on Modular Integration

Equipping human-robot collaboration (HRC) robots with multifunctional electronic skin capable of sensing proximity distance and dynamic/static forces is a crucial goal. However, existing solutions are often single-functional (only proximity or static force) or suffer from issues such as low sensitivity and narrow range. This paper proposes an integrated dual-mode electronic skin designed to combine proximity distance, static force, and dynamic force detection capabilities. Experimental results demonstrate that the fabricated dual-mode electronic skin exhibits excellent performance: it achieves a proximity detection range of 20 mm to 1800 mm, enabling continuous distance measurement; its static force sensing range is $0-65 \mathrm{~N}$ with a sensitivity of $1.3 \mathrm{mV} / \mathrm{N}$ and a linearity of 0.9; simultaneously, it effectively responds to dynamic excitation forces in the frequency range of $1-200 \mathrm{~Hz}$, showing good dynamic force response. Comparative experimental results indicate that this study provides an effective solution for enhancing the environmental perception and interaction capabilities of HRC robots.