GenTact Toolbox: A Design Platform for Procedurally Generated Artificial Skins

Website | Getting Started | Making Your First Skin | Tips and Tricks | More Modalities

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Procedural skins are a new class of artificial skins for robotic applications designed to be form-fitting and highly customizable to individual robots and use-cases. Procedural skins utilize a CAD model of a robot to automatically generate sensors with directely tunable parameters such as sensor density and sensing coverage are directly tunable.

Prerequisites

Procedural skins are designed in Blender, then can be optimized or deployed in simulation through Isaac Sim. The procedural skins developed here use RC delay capacitive sensing and are fabricated using multi-material 3D prinitng. Please refer to the original paper for more information on fabrication.

Getting Started

Isaac Sim Contact Extension:

Detailed instructions can be found in the Contact Extension README

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Blender Procedural Generation Add-on:

Detailed instructions can be found in the Blender Procedural Generation Add-on README

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Making your first skin

Tutorial video coming soon!

Citation

If you find our paper or codebase helpful, please consider citing:

@inproceedings{kohlbrenner2025gentact,
  title={GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins},
  author={Kohlbrenner, Carson and Escobedo, Caleb and Bae, S Sandra and Dickhans, Alexander and Roncone, Alessandro},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2025}
}