Humanoid Robotic Bust with Tactile Sensing for Multi-Sensory Human-Robot Interaction

This paper introduces a humanoid robotic bust designed for natural, real-time interaction using multiple sensory inputs-vision, sound, and touch. The system brings together dedicated hardware and control architectures to respond to human presence and contact in a socially intuitive way. A custom-built tactile sensor embedded in the face detects both the location and strength of touch, while an eye-mounted camera and deep learning model guide gazebased responses to visual cues. Directional sounds trigger head movements through auditory-based servoing, allowing the robot to react to its surroundings dynamically. Each sensory input is mapped to specific motor behaviors, enabling fluid, lifelike responses driven by a three-degree-of-freedom actuation module. Demonstration scenarios highlight the system's ability to perform socially appropriate and responsive behavior. These results suggest a strong foundation for future work involving multi-sensory fusion, speech interaction, and more expressive motion control.