Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin
Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin
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DOI：
10.1109/lra.2019.2901991
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Hirai, Shinichi
中科院分区：
文献类型：
--
作者：
Matsuno, Takahiro;Wang, Zhongkui;Hirai, Shinichi
这封信提出了一种使用导电织物的传感器，它可以通过测量传感器与周围环境之间的电容来检测接近和接触。由于传感器使用的灵活性，它可以很容易地与工业机器人手臂集成，以监控机器人与包括人类在内的周围环境之间的接近和接触，以确保安全。然而，周围的环境是不断变化的，对电容测量有很大影响。为了在这种情况下应用这种接近传感器，必须考虑环境变化，并必须消除对电容测量的影响，以确保稳定和稳健的接近测量。因此，在这封信中，我们提出了一种自适应更新参考电容的方法来消除环境的影响。为了对所提出的传感器和方法进行实验验证，我们开发了一个两连杆的机械臂，并将所提出的传感技术嵌入到每个环节中。实验结果表明，无论机器人手臂在潜在的动态环境中是静止的还是移动的，所提出的传感器都可以成功地检测到接近和接触。
This letter proposes a sensor using conductive fabric that can detect proximity and contact by measuring the capacitance between the sensor and the surrounding environment. Due to the flexibility of the sensor used, it can be easily integrated with industrial robot arms to monitor proximity and contact between the robot and the surrounding environment including humans for safety reasons. However, the surrounding environment is constantly changing and significantly affects the capacitance measurements. To apply such proximity sensors in this scenario, the environmental variations have to be considered and the influences on the capacitance measurements have to be eliminated to ensure stable and robust proximity measurements. Therefore, in this letter, we propose an approach to adaptively update the reference capacitance to eliminate the influence of the environment. To experimentally validate the proposed sensor and approach, we developed a two-link robot arm and embedded the proposed sensing technology with each link. Experimental results demonstrate that proximity and contact can be successfully detected by the proposed sensor, independently of whether the robot arm is at rest or moving in a potentially dynamic environment.