TY - GEN
T1 - Safe Skin-A Low-Cost Capacitive Proximity-Force-Fusion Sensor for Safety in Robots
AU - Wang, Zhen
AU - Gao, Heyang
AU - Schmitz, Alexander
AU - Somlor, Sophon
AU - Tomo, Tito Pradhono
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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).
AB - 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).
UR - http://www.scopus.com/inward/record.url?scp=85124367825&partnerID=8YFLogxK
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U2 - 10.1109/IROS51168.2021.9636308
DO - 10.1109/IROS51168.2021.9636308
M3 - Conference contribution
AN - SCOPUS:85124367825
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 807
EP - 813
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -