Proximity and Tactile Sensor Combining Multiple <scp>ToF</scp> Sensors and a Self‐Capacitance Proximity and Tactile Sensor
Proximity and Tactile Sensor Combining Multiple <scp>ToF</scp> Sensors and a Self‐Capacitance Proximity and Tactile Sensor
复制标题
结合多个 <scp>ToF</scp> 传感器和自电容接近和触觉传感器的接近和触觉传感器
DOI：
10.1002/tee.23779
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发表时间：
2023
影响因子：
1
通讯作者：
Kohama Teruhiko
中科院分区：
文献类型：
--
作者：
Tsuji Satoshi;Kohama Teruhiko
预计未来的劳动力将包括在同一环境中与人类一起工作的协作机器人。接近传感器和触觉传感器是协作机器人安全运行的最重要设备。在本文中，我们提出了一种用于协作机器人的接近和触觉传感器，该传感器结合了多个飞行时间（ToF）传感器和自容式接近和触觉传感器。ToF传感器可以探测到物体的距离，测量范围长。然而，在近距离时，它们的探测精度会下降，并且可能无法探测到盲点。相反，自电容接近和触觉传感器可以检测ToF传感器和接触条件下的盲点内的物体，因为传感器可以检测接触前后的物体，在接近范围内具有很高的灵敏度。该传感器通过扩大自电容电极，采用多个ToF传感器来扩大测量范围，减少盲点。原型传感器能够无缝地测量从大约400毫米到接触条件的物体。此外，还可以利用传感器的测量数据对带有原型传感器的机械臂进行实时控制。因此，我们相信所提出的传感器可以潜在地用作协作机器人的接近和触觉传感器。©2023日本电气工程师学会。Wiley期刊有限责任公司出版。
Future labor forces are anticipated to include collaborative robots that work alongside humans in the same environment. Proximity and tactile sensors are among the most important devices for collaborative robots to operate safely. In this paper, we propose a proximity and tactile sensor for a collaborative robot that combines multiple time‐of‐flight (ToF) sensors and a self‐capacitating proximity and tactile sensor. ToF sensors can detect the distance to an object and have a long measurement range. However, at close distances, their detection accuracy deteriorates, and blind spots may likely not be detected. Conversely, the self‐capacitance proximity and tactile sensor detect objects within the blind spots of ToF sensors and contact conditions because the sensor can detect an object before and after contact, being highly sensitive in the proximity range. In the proposed sensor, the electrodes of the self‐capacitance are enlarged, and multiple ToF sensors are used to expand the measurement range and reduce blind spots. A prototype sensor was seamlessly able to measure objects from approximately 400 mm to contact conditions. In addition, the robot arm with the prototype sensor could be controlled in real time using the measured data of the sensor. Therefore, we believe that the proposed sensor can be potentially used as a proximity and tactile sensor for collaborative robots. © 2023 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.