The Azure Kinect is the successor of Kinect v1 and Kinect v2. In this paper we perform brief data analysis and comparison of all Kinect versions with focus on precision (repeatability) and various aspects of noise of these three sensors. Then we thoroughly evaluate the new Azure Kinect; namely its warm-up time, precision (and sources of its variability), accuracy (thoroughly, using a robotic arm), reflectivity (using 18 different materials), and the multipath and flying pixel phenomenon. Furthermore, we validate its performance in both indoor and outdoor environments, including direct and indirect sun conditions. We conclude with a discussion on its improvements in the context of the evolution of the Kinect sensor. It was shown that it is crucial to choose well designed experiments to measure accuracy, since the RGB and depth camera are not aligned. Our measurements confirm the officially stated values, namely standard deviation ≤17 mm, and distance error <11 mm in up to 3.5 m distance from the sensor in all four supported modes. The device, however, has to be warmed up for at least 40–50 min to give stable results. Due to the time-of-flight technology, the Azure Kinect cannot be reliably used in direct sunlight. Therefore, it is convenient mostly for indoor applications.

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The Azure Kinect, the successor of Kinect v1 and Kinect v2, is a depth sensor. In this paper we evaluate the skeleton tracking abilities of the new sensor, namely accuracy and precision (repeatability). Firstly, we state the technical features of all three sensors, since we want to put the new Azure Kinect in the context of its previous versions. Then, we present the experimental results of general accuracy and precision obtained by measuring a plate mounted to a robotic manipulator end effector which was moved along the depth axis of each sensor and compare them. In the second experiment, we mounted a human-sized figurine to the end effector and placed it in the same positions as the test plate. Positions were located 400 mm from each other. In each position, we measured relative accuracy and precision (repeatability) of the detected figurine body joints. We compared the results and concluded that the Azure Kinect surpasses its discontinued predecessors, both in accuracy and precision. It is a suitable sensor for human–robot interaction, body-motion analysis, and other gesture-based applications. Our analysis serves as a pilot study for future HMI (human–machine interaction) designs and applications using the new Kinect Azure and puts it in the context of its successful predecessors.

Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.