Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
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DOI：
10.1109/tro.2021.3111786
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发表时间：
2021-10-27
影响因子：
7.8
通讯作者：
EscaidaNavarro, Stefan
中科院分区：
文献类型：
--
作者：
Navarro, Stefan Escaida;Muhlbacher-Karrer, Stephan;EscaidaNavarro, Stefan
接近感知是一项有潜力在未来机器人技术中发挥重要作用的技术。它可以实现工业和日常生活中以及人类以及太空和水下偏远地区安全、稳健和自主系统的承诺。在这篇调查文章中，我们介绍了该领域从早期到现在的发展，重点是以人为中心的机器人技术。在此领域中，接近传感器通常部署在两种场景中：首先，在机械臂的外部以支持安全和交互功能，其次，在抓手或手的内部以支持抓取和探索。因此，基于这一观察，在本文的开头，我们提出了一种分类来组织以人为中心的机器人技术中接近传感器的用例。然后，我们致力于介绍多年来发展起来的传感技术和不同的测量原理，并以表格的形式进行总结。接下来，我们回顾了有关已提出的应用程序的文献。最后，我们概述了将塑造该领域未来的最重要趋势。
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey article, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. In this domain, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on the inside of grippers or hands to support grasping and exploration. Therefore, based on this observation, in the beginning of this article, we propose a categorization to organize the use cases of proximity sensors in human-centered robotics. Then, we devote effort to present the sensing technologies and different measuring principles that have been developed over the years, also providing a summary in form of a table. Following, we review the literature regarding the applications that have been proposed. Finally, we give an overview of the most important trends that will shape the future of this domain.