Soft Sensitive Skin for Safety Control of a Nursing Robot Using Proximity and Tactile Sensors

Liang, Jiale; Wu, Jiahao; Huang, Hailin; Xu, Wenfu; Li, Bing; Xi, Fengfeng

doi:10.1109/jsen.2019.2959311

Cited by 66 publications

(32 citation statements)

References 23 publications

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“…For the sake of completeness, the authors would remark how pre-touch sensing is not only useful in object shape and pose estimation, but it could provide a relevant contribution also in safety critical situations, e.g., Human-Robot Collaboration tasks. Some examples are reported in [14,15], where proximity sensors are used in nursing applications to prevent and avoid unintended collision with patients, absorb impact due to them and perform automatic rehabilitation activity.…”

Section: Introductionmentioning

confidence: 99%

Proximity Sensor for Thin Wire Recognition and Manipulation

Cirillo¹,

Laudante²,

Pirozzi³

2021

Machines

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In robotic grasping and manipulation, the knowledge of a precise object pose represents a key issue. The point acquires even more importance when the objects and, then, the grasping areas become smaller. This is the case of Deformable Linear Object manipulation application where the robot shall autonomously work with thin wires which pose and shape estimation could become difficult given the limited object size and possible occlusion conditions. In such applications, a vision-based system could not be enough to obtain accurate pose and shape estimation. In this work the authors propose a Time-of-Flight pre-touch sensor, integrated with a previously designed tactile sensor, for an accurate estimation of thin wire pose and shape. The paper presents the design and the characterization of the proposed sensor. Moreover, a specific object scanning and shape detection algorithm is presented. Experimental results support the proposed methodology, showing good performance. Hardware design and software applications are freely accessible to the reader.

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Section: Introductionmentioning

confidence: 99%

Proximity Sensor for Thin Wire Recognition and Manipulation

Cirillo¹,

Laudante²,

Pirozzi³

2021

Machines

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“…Meanwhile, Leboutet et al [47] used tactile sensing information on an arm to implement compliant operation control. A research team from the Harbin Institute of Technology recently studied a method of deploying tactile sensors on the arms of nursing robots to achieve a safe operation [48]. Research on arm tactile sensing is presently in the beginning stage.…”

Section: Arm Tactile Sensingmentioning

confidence: 99%

Embodied tactile perception and learning

Liu

Guo

Sun

et al. 2020

Brain Science Advances

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Various living creatures exhibit embodiment intelligence, which is reflected by a collaborative interaction of the brain, body, and environment. The actual behavior of embodiment intelligence is generated by a continuous and dynamic interaction between a subject and the environment through information perception and physical manipulation. The physical interaction between a robot and the environment is the basis for realizing embodied perception and learning. Tactile information plays a critical role in this physical interaction process. It can be used to ensure safety, stability, and compliance, and can provide unique information that is difficult to capture using other perception modalities. However, due to the limitations of existing sensors and perception and learning methods, the development of robotic tactile research lags significantly behind other sensing modalities, such as vision and hearing, thereby seriously restricting the development of robotic embodiment intelligence. This paper presents the current challenges related to robotic tactile embodiment intelligence and reviews the theory and methods of robotic embodied tactile intelligence. Tactile perception and learning methods for embodiment intelligence can be designed based on the development of new large‐scale tactile array sensing devices, with the aim to make breakthroughs in the neuromorphic computing technology of tactile intelligence.

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“…Similarly, Tsuji limited the influence of the object reflectivity using a time-of-flight type proximity sensor [19]. Moreover, the force information is acquired by separately mounted piezoresistive pressure sensors [20].…”

Section: Introductionmentioning

confidence: 99%

Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force

Nozaki

Krebs

2022

IEEE Trans. Ind. Electron.

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Depth, proximity and tactile sensors are often used in robotic object manipulation. The three types of sensors are combined to address each sensor limitation: depth use is limited by blind spots and measurable range, proximity sensor is limited to millimetric distances, and the tactile sensor requires direct contact with the object. Here we present a novel sensor that can simultaneously measure millimetric distance and surface tilt, as well as contact force. We demonstrated the advantage of this novel sensor during a contact task. There, we implemented an admittance control and succeeded in achieving smooth transition from zero-to infinite-impedance contact condition and vice-versa. This novel sensor affords the realization of advanced interactions between robot and objects and contrary to previous approaches -limited by distance, blind spots, and impact force during initial contact -demonstrated good performance at all times with smooth and continuous measurements during contact.

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Soft Sensitive Skin for Safety Control of a Nursing Robot Using Proximity and Tactile Sensors

Cited by 66 publications

References 23 publications

Proximity Sensor for Thin Wire Recognition and Manipulation

Proximity Sensor for Thin Wire Recognition and Manipulation

Embodied tactile perception and learning

Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force

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