Recent achievements in the field of electronic skin (e-skin) have provided promising technology for service robots. However, the development of a bionic perception system that exhibits superior performance in terms of safety and interaction quality remains a challenge. Here, we demonstrate a biomimetic soft e-skin that is composed of an array of capacitors and air pouches. It is a single platform that shows dual-mode sensing capabilities of tactile sensing and proximity perception. We optimized the shape and area of the electrode via simulation of the approach of a robot to an object. Moreover, the compliance and temperature of the e-skin can be actively adjusted by tuning the pressure and heat of the air inside the pouches. The e-skin provided dual-mode sensing feedback and soft touch for humanoid service robots, for example, when a robot hugged a man, which illustrated the potential of this e-skin for applications in human-robot interactions.
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