**5. References**

16 Will-be-set-by-IN-TECH

(a) (b) (c)

(d) (e)

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 research leading to these results has received funding from the European Community Seventh Framework Programme(FP7/2007-2013) under Grant Agreement no. 231500 (Project

*Department of Communication, Computer and System Sciences (DIST), University of Genova,*

*Fondazione Istituto Italiano di Tecnologia (Italian Institute of Technology), Genova, Italy*

the durability of the fingertip during grasp operations.

**Figure 18. The steps for implementing the skin on NAO's hands.** (a) The two parts of the cover for NAO's forearm. (b) The triangles for one half of the forearm. (c) The PCBs are glued to the cover. (d) The cover with the PCBs. (e) The silicone foam has been molded onto the forearm. (e) The final result.

**4. Conclusion**

**Acknowledgements**

P.Maiolino and G.Cannata

A.Ascia, M.Maggiali, L.Natale and G.Metta

ROBOSKIN).

*Genova, Italy*

**Author details**

	- [18] Schmitz A, Maggiali M, Natale L, Bonino B, Metta G (2010) A tactile sensor for the fingertip of the humanoid robot iCub. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. 2212-2217.
