Additive Manufacturing enabling Radio Frequency Identification and Wireless Sensing

Genovesi, Simone; Costa, Filippo; Geziry, Mahmoud El; Rodini, Sandra; Gasperini, Daniela; Gharibi, Armin; Choudhury, Suvadeep; Manara, Giuliano

doi:10.1109/mapcon58678.2023.10463834

2023 IEEE Microwaves, Antennas, and Propagation Conference (MAPCON) 2023

DOI: 10.1109/mapcon58678.2023.10463834

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Additive Manufacturing enabling Radio Frequency Identification and Wireless Sensing

Simone Genovesi,

Filippo Costa,

Mahmoud El Geziry

et al.

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2024

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U-TAG: Electromagnetic Wireless Sensing System for Robotic Hand Pre-Grasping

Gharibi,

Costa,

Genovesi

2024

Sensors

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In order to perform complex manipulation and grasp tasks, robotic hands require sensors that can handle increasingly demanding functionality and degrees of freedom. This research paper proposes a radiofrequency sensor that uses a wireless connection between a probe and a tag. A compact and low-profile antenna is mounted on the hand and functions as a probe to read a printed passive resonator on the plastic object being targeted, operating within a pre-touch sensing range. The grasping strategy consists of four stages that involve planar alignment in up-to-down and left-to-right directions between the probe and tag, the search for an appropriate distance from the object, and rotational (angular) alignment. The real and imaginary components of the probe-input impedance are analyzed for different orientation strategies and positioning between the resonator on the object and the probe. These data are used to deduce the orientation of the hand relative to the target object and to determine the optimal position for grasping.

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U-TAG: Electromagnetic Wireless Sensing System for Robotic Hand Pre-Grasping

Gharibi,

Costa,

Genovesi

2024

Sensors

View full text Add to dashboard Cite

show abstract

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Additive Manufacturing enabling Radio Frequency Identification and Wireless Sensing

Cited by 1 publication

References 16 publications

U-TAG: Electromagnetic Wireless Sensing System for Robotic Hand Pre-Grasping

U-TAG: Electromagnetic Wireless Sensing System for Robotic Hand Pre-Grasping

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