Multi-functional capacitive proximity sensing system for industrial safety applications

Xia, Fan; Bahreyni, Behraad; Campi, Fabio

doi:10.1109/icsens.2016.7808496

Cited by 22 publications

(11 citation statements)

References 6 publications

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“…Such solutions allow the detection of contact pressure, but they cannot predict a possible impact in advance. To enhance safety, the most recent trends are toward the development of proximity skin sensors able to detect an object before any contact happens, e.g., capacitive sensors as in [41] or robotic skin modules as in [42], allowing for the measurement of proximity, contact, and force through an array of optical sensors. A further solution has been recently proposed in [43], employing time-of-flight sensors able to detect the object's position and its approximate shape before contact.…”

Section: New Sensors and Actuatorsmentioning

confidence: 99%

Robots in Industry: The Past, Present, and Future of a Growing Collaboration With Humans

Grau

Indri

Bello

et al. 2021

EEE Ind. Electron. Mag.

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Section: New Sensors and Actuatorsmentioning

confidence: 99%

Robots in Industry: The Past, Present, and Future of a Growing Collaboration With Humans

Grau

Indri

Bello

et al. 2021

EEE Ind. Electron. Mag.

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“…Navarro et al [14] provide a comprehensive overview of capacitive and proximity sensing in human-centered robotics, including applications, multimodal sensing techniques from literature that incorporate capacitance, and future challenges. Capacitive sensors have been mounted along the surface of robotic arms for avoiding collisions with people and stationary objects in the robot's environment [15], [16], [17], [18], [19], [20]. Non-contact capacitive sensing has also seen applications in controlling prostheses and exoskeletons [21], [22], tracking metallic objects near an industrial robot [23], teleoperation of mobile manipulators [24], and non-contact material recognition [25], [26].…”

Section: A Capacitive Sensingmentioning

confidence: 99%

Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction

Erickson¹,

Clever²,

Gangaram³

et al. 2021

Preprint

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Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajectories around the body, and track human motion. This study introduces a capacitive servoing control scheme that allows a robot to sense and navigate around human limbs during close physical interactions. Capacitive servoing leverages temporal measurements from a multi-electrode capacitive sensor array mounted on a robot's end effector to estimate the relative position and orientation (pose) of a nearby human limb. Capacitive servoing then uses these human pose estimates from a datadriven pose estimator within a feedback control loop in order to maneuver the robot's end effector around the surface of a human limb. We provide a design overview of capacitive sensors for human-robot interaction and then investigate the performance and generalization of capacitive servoing through an experiment with 12 human participants. The results indicate that multidimensional capacitive servoing enables a robot's end effector to move proximally or distally along human limbs while adapting to human pose. Using a cross-validation experiment, results further show that capacitive servoing generalizes well across people with different body size.

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“…A few examples are: manufacturing, mining, transportation, building automation, and consumer electronics. Their widespread use is rooted in their ability to satisfy common application requirements in motion control, safety [94], access control [95], fault detection [96],…”

Section: Ferrous-selective Proximity Sensingmentioning

confidence: 99%

Wireless Sensing for Ground Engaging Tools

Ibrahim

Hassan

Hassanein

et al. 2020

GLOBECOM 2020 - 2020 IEEE Global Communications Conference

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A long-standing industrial problem is tackled with an industrial internet of things (IIoT) application. This thesis presents the hardware design and development of a wireless sensor network for monitoring ground engaging tools of earth processing equipment. This work addresses several challenges in the hardware design. The challenges included establishing wireless communications from within a metallic enclosure, Investigating the effect of antenna tuning on the link budget, designing a protective package for the sensor node (SN) to withstand vibrations and mechanical shocks, and creating a low-power design that allowed for a minimum battery life of one year.Furthermore, this work puts forward the design of novel application-specific sensors including a low-power ferrous-selective proximity sensor and a low-cost capacitive wear-level sensor.Hardware designs were evaluated with laboratory and field tests. The conducted tests demonstrated the SN's functionality and performance in harsh operating conditions. The journey from problem definition and to successful field testing of the complete wireless sensing solution is covered in this thesis.In addition, a novel energy-efficient approach to wireless real-time sensing is presented. For an SN transmitting samples of a discrete time-series in real-time, its DisclaimerThis work was made possible through the software developed by Galal Hassan. His work on the shovel project covered firmware development for the sensor node, software development for the sink, and setting up the back-end cloud server including the dashboard. Furthermore, Galal has contributed significantly to the success of the shovel project by developing an energy-efficient MAC protocol [1] which allowed for satisfying the life-time requirement of the sensor nodes.

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Multi-functional capacitive proximity sensing system for industrial safety applications

Cited by 22 publications

References 6 publications

Robots in Industry: The Past, Present, and Future of a Growing Collaboration With Humans

Robots in Industry: The Past, Present, and Future of a Growing Collaboration With Humans

Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction

Wireless Sensing for Ground Engaging Tools

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