M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing

IROS 2025

  • Shunnosuke Yoshimura*
  • Kento Kawaharazuka
  • Kei Okada
  • JSK Robotics Laboratory, The University of Tokyo, Japan

Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion mea- surement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study, we propose a tactile sensor ― M3D-skin ― that can be easily fabricated with high versatility by leveraging the infill patterns of a multi-material fused deposition modeling (FDM) 3D printer as the sensing principle. This method employs conductive and non-conductive flexible filaments to create a hierarchical structure with a specific infill pattern. The flexible hierarchical structure deforms under pressure, leading to a change in electrical resistance, enabling the acquisition of tactile information. We measure the changes in characteristics of the proposed tactile sensor caused by modifications to the hierarchical structure. Additionally, we demonstrate the fabrication and use of a multi-tile sensor. Furthermore, as applications, we implement motion pattern measurement on the sole of a foot, integration with a robotic hand, and tactile-based robotic operations. Through these experiments, we validate the effectiveness of the proposed tactile sensor.

Design of M3D-skin

Design overview of M3D-skin: The M3D-skin consists of alternating conductive and non-conductive flexible filaments arranged in a hierarchical infill structure, enabling a compact and easily customizable sensing layer.

By simultaneously printing the wiring layers above and below the sensor layer, terminals of multiple-tile sensors can be consolidated into a single region. In the sensor layer, the electrical resistance decreases when compressed.

Experimental Results

A four-tile sensor was fabricated, and it was confirmed to detect forces of up to approximately 100 N.

A six-tile, foot-shaped sensor was fabricated, and distinct signal patterns were measured during walking and stair climbing.

The sensor was monolithically printed together with a PLA robotic hand, enabling recognition tasks. This demonstrates that simple integration can be achieved through co-printing with robotic components.

Bibtex

@inproceedings{yoshimura2025m3dskin,
  author={S. Yoshimura and K. Kawaharazuka and K. Okada},
  title={{M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing}},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year=2025,
}

Contact

If you have any questions, please feel free to contact Shunnosuke Yoshimura.