Human body parts proximity measurement using distributed tactile robotic skin
Authors:
- Jan Klimaszewski,
- Michał Władziński
Abstract
Safety in human–machine cooperation is the current challenge in robotics. Safe human– robot interaction requires the development of sensors that detect human presence in the robot’s workspace. Detection of this presence should occur before the physical collision of the robot with the human. Human to robot proximity detection should be very fast, allowing machine elements deceleration to velocities safe for human–machine collision. The paper presents a new, low-cost design of distributed robotic skin, which allows real-time measurements of the human body parts proximity. The main advantages of the proposed solution are low cost of its implementation based on comb electrodes matrix and real-time operation due to fast and simple electronic design. The main contribution is the new idea of measuring the distance to human body parts by measuring the operating frequency of a rectangular signal generator, which depends on the capacity of the open capacitor. This capacitor is formed between the comb electrodes matrix and a reference plate located next to the matrix. The capacitance of the open capacitor changes if a human body part is in vicinity. The application of the developed device can be very wide. For example, in the field of cooperative robots, it can lead to the improvement of human–machine interfaces and increased safety of human–machine cooperation. The proposed construction can help to meet the increasing requirements for cooperative robots.
- Record ID
- WUTff8daea84e17464d933ca4d397200912
- Author
- Journal series
- Sensors, ISSN 1424-8220, e-ISSN 1424-3210
- Issue year
- 2021
- Vol
- 21
- No
- 6
- Pages
- 1-17
- Article number
- 2138
- Keywords in English
- distributed sensor, electronic skin, flexible electronics, graphene nanoplatelets, proximity sensor, real-time, robotic skin, tactile sensor, costs, electrodes, robotics
- ASJC Classification
- ; ; ;
- DOI
- DOI:10.3390/s21062138 Opening in a new tab
- URL
- https://www.mdpi.com/1424-8220/21/6/2138 Opening in a new tab
- Language
- eng (en) English
- License
- File
-
- File: 1
- Human body parts proximity measurement using distributed tactile robotic skin, File WUTff8daea84e17464d933ca4d397200912.pdf / 22 MB
- WUTff8daea84e17464d933ca4d397200912.pdf
- publication date: 15-04-2022
- Human body parts proximity measurement using distributed tactile robotic skin, File WUTff8daea84e17464d933ca4d397200912.pdf / 22 MB
-
- Score (nominal)
- 100
- Score source
- journalList
- Score
- = 100.0, 06-05-2022, ArticleFromJournal
- Publication indicators
- = 2; : 2016 = 1.393; : 2018 (2 years) = 3.031 - 2018 (5 years) =3.302
- Uniform Resource Identifier
- https://repo.pw.edu.pl/info/article/WUTff8daea84e17464d933ca4d397200912/
- URN
urn:pw-repo:WUTff8daea84e17464d933ca4d397200912
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or PerishOpening in a new tab system.