  We present BubbleTouch, an open source quasi-static simulator for robotic
tactile skins. BubbleTouch can be used to simulate contact with a robot's
tactile skin patches as it interacts with humans and objects. The simulator
creates detailed traces of contact forces that can be used in experiments in
tactile contact activities. We summarize the design of BubbleTouch and
highlight our recent work that uses BubbleTouch for experiments with tactile
object recognition.
