Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

“…In further works, authors have extended the visual perception installed on end-effectors with capacitive proximity sensors. In [32], Escaida Navarro et al generate 6D force-feedback from the proximity signals to aid the user in exploration tasks and Alagi et al use tactile feedback with spatial resolution to help users in detecting shape cues in [46]. Both works show how proximity sensing can close the perception gap caused by visual distortions or occlusions in teleoperation.…”

“…Other works have made use of the material dependency and investigated material recognition using multi-exciter frequencies [42], [43], and [44]. Moreover, tomographic measurements using capacitive sensors were also studied including side effects and material dependencies [17], [45] and the potential for flexible spatial resolution was explored [41], [34], [46]. The possible applications are further discussed in Sec.…”

CapSense: A Real-Time Capacitive Sensor Simulation Framework for Physical Human-Robot Interaction

“…Due to their versatile integration on different surfaces, problems in collision avoidance using capacitive sensing technology [8]- [11] were proposed and successfully implemented. Capacitive sensors have also been proposed for so-called pre-shaping in problems such as object grasping or manipulation [12], [13] and for haptic feedback [14]. Furthermore, in caregiving robotics, these sensors were successfully implemented for the task of dressing and bathing people using multi-dimensional capacitive sensors [15]- [17].…”