ELECTRICAL IMPEDANCE TOMOGRAPHY FOR ARTIFICIAL SENSITIVE

ROBOTIC SKIN: A REVIEW

ABSTRACT

Electrical impedance tomography (EIT) is a nondestructive imaging technique used to

estimate the internal conductivity distribution of a conductive domain by taking potential
measurements only at the domain boundaries. If a thin electrically conductive material that
responds to pressure with local changes in conductivity is used as a conductive domain, then EIT
can be used to create a large-scale pressure-sensitive artificial skin for robotics applications. This
paper presents a review of EIT and its application as a robotics sensitive skin, including EIT
excitation and image reconstruction techniques, materials, and skin fabrication techniques.
Touch interpretation via EIT-based artificial skins is also reviewed.