Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications

In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furthermore, the implementation of the capacitive touch technology presented here is selectively sensitive to human touch (conductive objects), while it is largely unaffected by the deformations created by the pneumatic actuation of our soft robot. Multi-touch interactions are also possible. We evaluated our approach with an organic soft robotics sculpture that was created by a visual artist. In particular, we evaluate that the touch localization capabilities are robust under the deformation of the device. We discuss the potential this approach has for the arts and entertainment as well as other domains.