# SkinSim: A Design and Simulation Tool for Robot Skin With Closed-Loop pHRI Controllers

> Research article (IEEE Transactions on Automation Science and Engineering, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3038052841](https://www.wikidata.org/wiki/openalex:W3038052841)  
**Source**: https://4ort.xyz/entity/skinsim-a-design-and-simulation-tool-for-robot-skin-with-closed-loop-phri-controllers