Hybrid E-skin Architecture

Vision-Tactile + Resistive Hybrid Architecture

1.Zone A: Fingertips - Vision Tactile (GF225)

Why at the fingertips?

• Fingertips handle first-contact exploration, fine positioning, edge alignment, and placement closure
• This is where texture, micro-slip, and shear cues matter most
• The area is small, so a higher-performance fine sensing solution is justified
  

2.Zone B: Finger Pads / Palm - Piezoresistive Skin

Why on finger pads and palm?

• Finger pads and the palm carry force buildup, stable grasp, support, and surface coverage
• The priority is contact distribution, overall load, and coverage completeness—not extreme spatial resolution
• Piezoresistive skin is better for large-area, thin, scalable, and cost-controlled deployment

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