"Safe Skin" - A Low-Cost Capacitive Proximity-Force-Fusion Sensor for Safety in Robots
"Safe Skin" - A Low-Cost Capacitive Proximity-Force-Fusion Sensor for Safety in Robots
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DOI：
10.1109/iros51168.2021.9636308
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发表时间：
2021-09
期刊：
影响因子：
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通讯作者：
Zhen Wang;Heyang Gao;A. Schmitz;S. Somlor;Tito Pradhono Tomo;S. Sugano
中科院分区：
文献类型：
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作者：
Zhen Wang;Heyang Gao;A. Schmitz;S. Somlor;Tito Pradhono Tomo;S. Sugano
本文介绍了低成本电容式接近力融合传感器“安全皮肤”的设计和评估，该传感器可以同时测量人类的接近度和接触力。它的设计使得力和接近传感功能可以同时工作而不会相互干扰。此外，传感器还实现了有源屏蔽、片上数字化和接地隔离，最大限度地减少了环境杂散电容和电磁干扰（EMI）的影响，确保了传感器在工业应用中具有较高的系统鲁棒性。原型版本能够在 400 毫米的距离内检测到人手大小的接地物体。此外，可以测量 5 至 40 N 范围内的力，具有 43.7% 的滞后和 6.7% 的非线性。由于其传感特性，当传感器用于机器人时，未来可用于确保附近人类的安全。该传感器还可以用作人机交互（HRI）的接口。
This paper presents the design and evaluation of the low-cost capacitive proximity-force-fusion sensor "safe skin", which can measure simultaneously the proximity of humans as well as the contact force. It was designed such that the force and proximity sensing functions can work concurrently without interfering with each other. Moreover, active shielding, on-chip digitization and ground isolation are implemented for the sensor to minimize the influence from stray capacitance and electromagnetic interference (EMI) from the environment, which ensures that the sensor has a high system robustness for industrial applications. The prototype version has the capability of detecting a grounded human hand sized object from a distance of 400 mm. Moreover, forces in the range of 5 to 40 N can be measured, with 43.7% hysteresis and 6.7% nonlinearity. Due to its sensing characteristics, when used on a robot, the sensor could be used to ensure the safety of nearby humans in the future. The sensor could also potentially be used as an interface for human-robot interaction (HRI).