A Pretouch Sensing System for a Robot Grasper Using Magnetic and Capacitive Sensors

Schlegl, Thomas; Neumayer, Markus; Mühlbacher-Karrer, Stephan; Zangl, Hubert

doi:10.1109/tim.2013.2238034

Cited by 14 publications

(7 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Therefore, when not considered by signal processing algorithms, the leakage effect can lead to wrong results. In [6] it is aimed to reconstruct the region of interest of a two finger robotic hand by means of capacitance measurements. State of the art algorithms as typically applied in ECT applications [10] are used to reconstruct the spatial relative permittivity distribution.…”

Section: Ii-a Impact Of the Leakage Current Effectmentioning

confidence: 99%

“…In [4] and [5] it is demonstrated that an object type classification has to be made prior to the actual distance estimation. In [6] a Bayes risk decision in combination with a maximum likelihood detector is used for object classification and distance estimation. It is shown that distance estimation and even object classification are possible with capacitive sensing under certain circumstances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Simulation of the Leakage Effect In Capacitive Sensing

Schlegl

Bretterklieber

Mühlbacher-Karrer

et al. 2014

International Journal on Smart Sensing and Intelligent Systems

Self Cite

View full text Add to dashboard Cite

In the measurement of mutual capacitance between electrodes both the coupling and the leakage effect contribute to the measurement result whereas the leakage mode is dominant in the selfcapacitance mode. While the coupling effect is mainly defined by the geometry and material distribution close to the electrodes, the root cause or modulation of the leakage effect may be far away from the electrode. In this paper we demonstrate that the leakage mode concept allows for simulation of 3D problems in 2D. This is useful in applications such as Electrical Capacitance Tomography or object classification as it allows simplifying the computational complexity while providing additional information compared to the classical 2D approach.

show abstract

Section: Ii-a Impact Of the Leakage Current Effectmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simulation of the Leakage Effect In Capacitive Sensing

Schlegl

Bretterklieber

Mühlbacher-Karrer

et al. 2014

International Journal on Smart Sensing and Intelligent Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…Figure 4. Reconstruction result of a 2D simulation of the inner volume of a two finger robotic hand comprising two different objects from [6]. A PVC rod (black circle) can be reconstructed with a close match.…”

Section:  Pvc Barmentioning

confidence: 99%

“…Therefore, when not considered by signal processing algorithms, the leakage effect can lead to wrong results. In [6] for example it was tried to reconstruct the region of interest of a two finger robotic hand by means of capacitance measurements. State of the art algorithms typically applied in ECT applications [10] were used to reconstruct the spatial relative permittivity distribution.…”

Section: Influences On the Measurementsmentioning

confidence: 99%

“…It is shown in [4] and [5] that with different object types approaching, an object type classification has to be made prior to the actual distance estimation. In [6] a Bayes risk decision in combination with a maximum likelihood detector was used for object classification and distance estimation. It was shown that distance estimation and even object classification are possible with capacitive sensing under certain circumstances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Investigations on the Leakage Effect in Capacitive Sensing

Schlegl

Bretterklieber

Mühlbacher-Karrer

et al. 2014

International Journal on Smart Sensing and Intelligent Systems

Self Cite

View full text Add to dashboard Cite

In the measurement of mutual capacitance between electrodes both the coupling and the leakage effect contribute to the measurement result whereas the leakage mode is dominant in the self capacitance mode. While the coupling effect is mainly defined by the geometry and material distribution close to the electrodes, the root cause or modulation of the leakage effect may be far away from the electrode. It is shown that utilizing both effects may lead to an improvement of an ECT-like scenario reconstruction performance in open environments (e.g. pretouch applications).

show abstract