Novel Capacitive-Based Sensor Technology for Augmented Proximity Detection

Chiurazzi, Marcello; Garozzo, Guido Giuseppe; Dario, P.; Ciuti, Gastone

doi:10.1109/jsen.2020.2972740

Cited by 13 publications

(9 citation statements)

References 24 publications

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“…Experimental tests were performed to evaluate the pins displacements of the sensorized external fixator with a callus stiffness equal to k 1 = 0 N/mm under increasing compressive loads (from 0 to 500 N) with intervals of 50 N. Figure 10 b presents the sensor responses in terms of voltage at each loading step, showing an exponential trend. Such behaviour, consistent with the scientific literature of parallel plate capacitive sensors [ 33 ], can be considered advantageous, since pins displacements due to very close loads (step of 50 N) can be easily detected and discriminated. A linear regression, validated with R2 statistic equal to 0.9513, was found when we correlated the voltage and pins displacements recorded by the optical tracking system, as described in Figure 10 c. Indeed, a reliable model correlating voltage and pins displacements allows us to determine the movements of the pins by reading the voltage response.…”

Section: Discussionsupporting

confidence: 77%

“…We chose to implement capacitive technology, as it can overcome many of the mentioned issues, i.e., (1) it is cheap, (2) easily implemented, (3) adaptable to any non-regular surface, and furthermore (4) it has been proven to provide both proximity and pre-contact information [ 33 ]. Since we were able to work at pre-contact distances (i.e., 2 mm) in our measurement device, we exploited the exponential curve of response of the capacitive sensors to increase the resolution and the accuracy of the sensing technology.…”

Section: Discussionmentioning

confidence: 99%

“…In order to monitor the pins displacements, the bone–external fixator system was endowed with a sensorization module capable of detecting such displacements. In this regard, capacitive sensors were employed in a parallel plate configuration, to provide pre-contact information (0–20 mm distance), as already described in [ 33 ].…”

Section: Methodsmentioning

confidence: 99%

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A Novel Capacitive Measurement Device for Longitudinal Monitoring of Bone Fracture Healing

Sorriento

Chiurazzi

Fabbri³

et al. 2021

Sensors

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The healing process of surgically-stabilised long bone fractures depends on two main factors: (a) the assessment of implant stability, and (b) the knowledge of bone callus stiffness. Currently, X-rays are the main diagnostic tool used for the assessment of bone fractures. However, they are considered unsafe, and the interpretation of the clinical results is highly subjective, depending on the clinician’s experience. Hence, there is the need for objective, non-invasive and repeatable methods to allow a longitudinal assessment of implant stability and bone callus stiffness. In this work, we propose a compact and scalable system, based on capacitive sensor technology, able to measure, quantitatively, the relative pins displacements in bone fractures treated with external fixators. The measurement device proved to be easily integrable with the external fixator pins. Smart arrangements of the sensor units were exploited to discriminate relative movements of the external pins in the 3D space with a resolution of 0.5 mm and 0.5°. The proposed capacitive technology was able to detect all of the expected movements of the external pins in the 3D space, providing information on implant stability and bone callus stiffness.

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Section: Discussionsupporting

confidence: 77%

Section: Discussionmentioning

confidence: 99%

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A Novel Capacitive Measurement Device for Longitudinal Monitoring of Bone Fracture Healing

Sorriento

Chiurazzi

Fabbri³

et al. 2021

Sensors

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“…Researchers propose to develop multifunctional perception sensors on the basis of the same physical signal to achieve continuous proximity and tactile human–machine interaction. Several types of proximity and tactile pressure-perception sensors have been investigated, including acoustic, optical, and electrical types according to different working mechanisms. − Electrical signal-based sensors, such as capacitive, electromagnetic, resistive, piezoelectric, and triboelectric types, have received significant expectations because of their convenient integration advantages and insensitivity to light, noise, color, and surface texture. − Among them, capacitive-based sensors with characteristics including simple device construction, low power consumption, high flexibility, and high stability show potential for meeting the extensive perception demands in complex interaction scenarios. , …”

Section: Structure Design and Optimization Strategies Of The Ppds Devicementioning

confidence: 99%

High-Performance Flexible Capacitive Proximity and Pressure Sensors with Spiral Electrodes for Continuous Human–Machine Interaction

Huang

Wang

Zhang

et al. 2022

ACS Materials Lett.

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Flexible perception sensors play important roles in the artificial intelligence era. An integrated proximity and tactile pressure sensor, with the capability to continuously perceive the approach of an object until a pressure variation is sensed through contact and manipulation, is in demand for the improvement of proximity-sensing distance, flexibility, and integration. Herein, capacitive proximity and pressure dualmode sensors based on a novel complementary Archimedean spiral electrode design and dielectric calcium cross-linked alginate film are reported. The results of theoretical analysis and finite element simulation show that the electrode pattern design with a higher specific fringe length (i.e., fringe length divided by electrode cover area) significantly enhances the fringe field. As the dielectric layer, the flexible and transparent calcium cross-linked alginate film with crater-shaped morphology is prepared by a novel interfacial reaction method with ultrasonic spraying that improves the sensitivity and linearity of the tactile perception response. Sensors with optimized electrodes and dielectric layers exhibit unprecedented performance in terms of high sensitivity, long detection distance (∼55 mm), fast responding time (<10 ms), and highly linear response (R 2 = 0.995). Furthermore, the applications of the integrated perception sensors for noncontact tapping and swiping gesture recognition and continuous human−machine interaction for controlling image scaling are demonstrated.

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“…It is worth noting that other virtual forces/torque may be superimposed based on contact forces/torques to implement an impedance/admittance control. The measurement of the actual contact force/torque can be provided by external sensors, such as the sensitive and protective skin presented in [ 6 , 20 ] and/or standard load cells.…”

Section: Methodsmentioning

confidence: 99%

Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments

Chiurazzi

Alcaide

Diodato

et al. 2023

Sensors

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Standard industrial robotic manipulators use well-established high performing technologies. However, such manipulators do not guarantee a safe Human–Robot Interaction (HRI), limiting their usage in industrial and medical applications. This paper proposes a novel local path planner for spherical wrist manipulators to control the execution of tasks where the manipulator number of joints is redundant. Such redundancy is used to optimize robot motion and dexterity. We present an intuitive parametrization of the end-effector (EE) angular motion, which decouples the rotation of the third joint of the wrist from the rest of the angular motions. Manipulator EE motion is controlled through a decentralized linear system with closed-loop architecture. The local planner integrates a novel collision avoidance strategy based on a potential repulsive vector applied to the EE. Contrary to classic potential field approaches, the collision avoidance algorithm considers the entire manipulator surface, enhancing human safety. The local path planner is simulated in three generic scenarios: (i) following a periodic reference, (ii) a random sequence of step signal references, and (iii) avoiding instantly introduced obstacles. Time and frequency domain analysis demonstrated that the developed planner, aside from better parametrizing redundant tasks, is capable of successfully executing the simulated paths (max error = 0.25°) and avoiding obstacles.

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Novel Capacitive-Based Sensor Technology for Augmented Proximity Detection

Abstract: VRViz: Native VR Visualization of ROS Topics .

Cited by 13 publications

References 24 publications

A Novel Capacitive Measurement Device for Longitudinal Monitoring of Bone Fracture Healing

A Novel Capacitive Measurement Device for Longitudinal Monitoring of Bone Fracture Healing

High-Performance Flexible Capacitive Proximity and Pressure Sensors with Spiral Electrodes for Continuous Human–Machine Interaction

Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments

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