**4. Conclusion**

In the chapter the ROBOSKIN tactile system has been presented; in particular the procedures and methods for its integration in three different robotic platforms have been shown, proving its portability and its capability to cover large area of the robots body. Indeed the three robots have very different characteristics, but the integration steps were the same. A new implementation for the iCub fingertips has been shown and behavior characterization data have been presented. The new implementation allows to have a better robustness increasing the durability of the fingertip during grasp operations.
