A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

Ergun, Serkan; Ding, Yitao; Alagi, Hosam; Schöffmann, Christian; Ubezio, Barnaba; Sóti, Gergely; Rathmair, Michael; Mühlbacher-Karrer, Stephan; Thomas, Ulrike; Hein, Björn; Hofbaur, Michael; Zangl, Hubert

doi:10.1109/icra48506.2021.9561224

Cited by 9 publications

(1 citation statement)

References 16 publications

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“…Thus, there is an urgent demand for the synergistic investigation and further design of dual-responsive transduction mechanisms to develop DAS with satisfactory dual-mode performance. Notably, coplanar electrodes possess more concentrated fringe electric fields than parallel electrodes and have been widely used in robotic proximal sensing applications. − However, they are often overlooked in previous investigations of DASs. Bao’s group recently proposed a new transduction design for coplanar interdigitated electrodes to realize capacitive DASs .…”

Section: Introductionmentioning

confidence: 99%

High-Performance Dual-Responsive Sensing Skin Enabled by Bioinspired Transduction of Coplanar Square-Loop Electrodes

Zhao,

Xu,

Chen

et al. 2023

ACS Appl. Mater. Interfaces

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Advancements in intelligent robots and human–machine interaction necessitate a shift in artificial skins toward multimodal perception. Dual-responsive skins that can detect proximity and pressure information are significant to establishing continuous sensing of interaction processes and extending interactive application scenarios. To address the current limitations of inadequate dual-mode performance, such as limited proximal response change and low tactile sensitivity, this paper presents a bioinspired complementary gradient architecture-enabled (CGA) transduction design and a high-performance dual-responsive skin based on coplanar square-loop electrodes. Through systematic investigation into the transduction of various electrode configurations, comparative results reveal the remarkable potential of coplanar electrodes to deliver superior dual-mode performance without compromise. Simulations and experiments prove that the proposed CGA response mechanism can capture local interface deformation and overall compression signals, further enhancing response sensitivity. The final developed artificial skin is sensitive to external pressure and the approach of objects simultaneously, exhibiting a long detection distance (∼40 mm), a high proximity response (>0.4), and outstanding touch sensitivity (0.131 kPa–1). Furthermore, we demonstrate proof-of-concept applications for the proposed sensing skin in a dual-mode teleoperation interface and adaptive grasping interactions.

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Section: Introductionmentioning

confidence: 99%

High-Performance Dual-Responsive Sensing Skin Enabled by Bioinspired Transduction of Coplanar Square-Loop Electrodes

Zhao,

Xu,

Chen

et al. 2023

ACS Appl. Mater. Interfaces

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Realistische Sensor-Simulationen für den Digital Twin

Ubezio,

Ergun,

Zangl

2023

Elektrotech. Inftech.

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Digital twins use actual sensor data to replicate the current state of a plant in a virtual model. They can be used to evaluate the current state, predict future behavior, and thus allow to refine control or optimize operation, enable predictive maintenance as well as detection of anomalies and failures.The model of a digital twin includes models of the components, behaviors and dynamics of a system. With the ability to simulate real scenarios, such models can therefore also be used before a plant is actually implemented, e.g., to predict the actual performance, identify potential issues for the implementation and to develop optimal operation strategy and algorithms. Furthermore, interfaces may be defined, implemented, and tested with such models allowing fast and easy commissioning of the physical implementation.Accurate digital twins therefore also need to include realistic sensor models, considering adverse effects that impact their output signals. The proposed work presents approaches for accurate sensor simulations allowing researchers and industries to assess sensor performance, optimize algorithms, and evaluate system-level integration. We address Frequency Modulated Continuous Wave (FMCW) radar sensors and time-of-flight cameras as examples for far-field sensors and capacitive sensors as an example for near-field sensors. The approaches can be transferred to other sensors, e.g., ultrasound sensors, LiDAR sensors and inductive or magnetic sensors so that a wide range of industrial sensors can be covered.The proposed simulations are benchmarked with different tests, including real-world experiments and compared with the corresponding real sensors.

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Safe human–robot collaboration for industrial settings: a survey

Zhou

et al. 2023

J Intell Manuf

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A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

Cited by 9 publications

References 16 publications

High-Performance Dual-Responsive Sensing Skin Enabled by Bioinspired Transduction of Coplanar Square-Loop Electrodes

High-Performance Dual-Responsive Sensing Skin Enabled by Bioinspired Transduction of Coplanar Square-Loop Electrodes

Realistische Sensor-Simulationen für den Digital Twin

Safe human–robot collaboration for industrial settings: a survey

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