  Tactile skins made from textiles enhance robot-human interaction by
localizing contact points and measuring contact forces. This paper presents a
solution for rapidly fabricating, calibrating, and deploying these skins on
industrial robot arms. The novel automated skin calibration procedure maps skin
locations to robot geometry and calibrates contact force. Through experiments
on a FANUC LR Mate 200id/7L industrial robot, we demonstrate that tactile skins
made from textiles can be effectively used for human-robot interaction in
industrial environments, and can provide unique opportunities in robot control
and learning, making them a promising technology for enhancing robot perception
and interaction.
