Safe Skin-A Low-Cost Capacitive Proximity-Force-Fusion Sensor for Safety in Robots

研究成果: Conference contribution

抄録

This paper presents the design and evaluation of the low-cost capacitive proximity-force-fusion sensor safe skin, which can measure simultaneously the proximity of humans as well as the contact force. It was designed such that the force and proximity sensing functions can work concurrently without interfering with each other. Moreover, active shielding, on-chip digitization and ground isolation are implemented for the sensor to minimize the influence from stray capacitance and electromagnetic interference (EMI) from the environment, which ensures that the sensor has a high system robustness for industrial applications. The prototype version has the capability of detecting a grounded human hand sized object from a distance of 400 mm. Moreover, forces in the range of 5 to 40 N can be measured, with 43.7% hysteresis and 6.7% nonlinearity. Due to its sensing characteristics, when used on a robot, the sensor could be used to ensure the safety of nearby humans in the future. The sensor could also potentially be used as an interface for human-robot interaction (HRI).

本文言語English
ホスト出版物のタイトルIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ807-813
ページ数7
ISBN(電子版)9781665417143
DOI
出版ステータスPublished - 2021
イベント2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic
継続期間: 2021 9月 272021 10月 1

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
国/地域Czech Republic
CityPrague
Period21/9/2721/10/1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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