GenTact Toolbox

A Procedural Whole-Body Sensor Design Pipeline

The GenTact Toolbox provides computational tools for creating versatile whole-body tactile skins tailored to both robot shape and application.

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Publications

Recently accepted to ICRA 2026

GenTact-Prox: Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors

ICRA 2026

Self-Capacitive

Extends GenTact with capacitive sensing for proximity detection (up to 18 cm) and contact anticipation.

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Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection

Humanoids ConRich Workshop 2025

Time-of-Flight

Extends GenTact with a form-fitting, large-area sensor mounting solution for time-of-flight sensors.

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GenTact Toolbox: A Computational Design Pipeline

ICRA 2025

RC-Coupling

A computational pipeline for creating versatile whole-body tactile skins through procedural mesh generation, task-driven simulation, and multi-material 3D printing.

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Tutorials

How to make 3D-printed tactile sensors for robots using GenTact Toolbox (Part 1 - Design)

Beginner tutorial on how to design 3D-printed tactile sensors for robots using the GenTact Toolbox.

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Contributors

Carson Kohlbrenner

Maintainer

Caleb Escobedo

Anna Soukhovei

Alex Dickhans

Sandra Bae

Dr. Alessandro Roncone

Contact

For questions and collaborations, please email carson.kohlbrenner@colorado.edu or visit the HIRO Group website.