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This paper aims to present an innovative and cost-effective design forAcoustic Soft Tactile (AST) Skin, with the primary goal of significantlyenhancing the accuracy of 2-D tactile feature estimation. The existingchallenge lies in achieving precise tactile feature estimation, especiallyconcerning contact geometry characteristics, using cost-effective solutions. Wehypothesise that by harnessing acoustic energy through dedicated acousticchannels in 2 layers beneath the sensing surface and analysing amplitudemodulation, we can effectively decode interactions on the sensory surface,thereby improving tactile feature estimation. Our approach involves thedistinct separation of hardware components responsible for emitting andreceiving acoustic signals, resulting in a modular and highly customizable skindesign. Practical tests demonstrate the effectiveness of this novel design,achieving remarkable precision in estimating contact normal forces (MAE < 0.8N), 2D contact localisation (MAE < 0.7 mm), and contact surface diameter (MAE <0.3 mm). In conclusion, the AST skin, with its innovative design and modulararchitecture, successfully addresses the challenge of tactile featureestimation. The presented results showcase its ability to precisely estimatevarious tactile features, making it a practical and cost-effective solution forrobotic applications.

AST-2: Single and bi-layered 2-D acoustic soft tactile skin