Researchers were able to send the touching sensation as an electric pulse to the relevant "touch" brain cells in mice.
The stretchy, flexible skin is made of a synthetic rubber that has been designed to have micron-scale pyramid like structures that make it especially sensitive to pressure.
Scientists sprinkled the pressure-sensitive rubber with carbon nanotubes - microscopic cylinders of carbon that are highly conductive to electricity - so that, when the material was touched, a series of pulses is generated from the sensor.
"We were able to create [a system] very similar to biological mechanical receptors," said Benjamin Tee from the Agency for Science, Technology and Research in Singapore.
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In order too test whether the skin could create electric pulses that brain cells could respond to, the scientists connected the synthetic skin to a circuit connected to a blue LED light.
When the skin was touched, the sensor sent electric pulses to the LED which pulsed in response. The sensors translated that pressure pulse into an electric pulses.
The research was published in the journal Science.