A Multi-Modal Sensor Array for Human–Robot Interaction and Confined Spaces Exploration Using Continuum Robots

Abah, Colette; Orekhov, Andrew L.; Johnston, Garrison L.H.; Simaan, Nabil

doi:10.1109/jsen.2021.3140002

Cited by 6 publications

(5 citation statements)

References 31 publications

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“…The individual forces in the x and y directions from this point give a resultant force of 21N 30°from the loading point. The plane stress model was generated using the underlying constitutive plane stress equation, equation (12), where σ 11 and σ 22 are normal stresses in orthogonal directions, σ 12 is the shear stress relative to these directions, nu is the Poisson's ratio, ε 11 and ε 22 are normal strains in orthogonal directions, and ε 12 is the shear stress relative to these directions.…”

Section: Numerical Simulationmentioning

confidence: 99%

“…Proprioceptive sensing in soft limb robots for example [9], has been improved through modifications of the Hall effect curvature sensor alongside modifications to the actuation chamber cross section, which if soft, requires advanced flexible sensing mechanisms such as has been reported in [10]. Soft actuating limbs using groups of three-linear sensors are known to enable a high level of accuracy in soft robotic limb movement in flexure [11,12] and as such, are considered in this work to also have potential for the soft-hard composite appendages intended in this work.…”

Section: Introductionmentioning

confidence: 99%

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Design of a Hall effect sensor controlled brittle star inspired composite robotic limb

Mack

Alam

2022

Eng. Res. Express

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This paper elucidates a method of actuation and feedback for hard-soft composite continuum pentapod appendages to enable both kinematic accuracy and gait. A feedback mechanism based on Hall effect sensors is integrated within a hard exterior/soft interior composite robotic limb, which is unaffected by actuator slippage, and provides accurate (sub $2^\circ$) end point measurements. The proposed method for actuation uses two actuators to control a full semi-spherical range of motion, an improvement to the use of three actuators more commonly reported in the literature. When applied to enable the gait of a complete brittle star inspired pentapod, we find that our design reaches a momentum of 0.52$kg \cdot m/s$, surpassing the momentum of previously reported untethered starfish inspired pentapods by 3.7 times.

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Section: Numerical Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a Hall effect sensor controlled brittle star inspired composite robotic limb

Mack

Alam

2022

Eng. Res. Express

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“…Each segment contains multiple sensors for sensing the environment around the robot as well as the force. Each module is composed of multiple time-of-flight sensors to detect an object and map the environment as well as Hall effect sensors and magnets to detect contact and force [ 64 ]. A data-driven method for contact localization is presented in [ 62 ].…”

Section: Classificationmentioning

confidence: 99%

“…The application of environment sensors is showcased in [ 64 , 67 ]. In this study, the authors proposed a custom continuum robot arm, made of discs containing environment sensors ( Figure 12 ).…”

Section: Classificationmentioning

confidence: 99%

Sensing of Continuum Robots: A Review

Sincak,

Prada,

Miková

et al. 2024

Sensors

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The field of continuum robotics is rapidly developing. The development of new kinematic structures, locomotion principles and control strategies is driving the development of new types of sensors and sensing methodologies. The sensing in continuum robots can be divided into shape perception and environment perception. The environment perception is focusing on sensing the interactions between the robot and environment. These sensors are often embedded on an outer layer of the robots, so the interactions can be detected. The shape perception is sensing the robot’s shape using various principles. There are three main groups of sensors that use the properties of electricity, magnetism and optics to measure the shape of the continuum robots. The sensors based on measuring the properties of electricity are often based on measuring the electrical resistance or capacitance of the flexible sensor. Sensors based on magnetism use properties of permanent magnets or coils that are attached to the robot. Their magnetic field, flux or other properties are then tracked, and shape reconstruction can be performed. The last group of sensors is mostly based on leveraging the properties of traveling light through optical fibers. There are multiple objectives of this work. Objective number one is to clearly categorize the sensors and make a clear distinction between them. Objective number two is to determine the trend and progress of the sensors used in continuum robotics. And finally, the third objective is to define the challenges that the researchers are currently facing. The challenges of sensing the shape or the interaction with the environment of continuum robots are currently in the miniaturization of existing sensors and the development of novel sensing methods.

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“…A multi-modal sensor array capable of contact detection and localization, force sensing, proximity and mapping is presented in [ 27 , 28 ]. The core idea is to replace the passive spacer disks of a continuum robot with multi-modal sensing disk units (SDUs) equipped with the Hall effect and Time-of-Flight (ToF) sensors, ensuring a safe interaction along the entire length of the robot body.…”

Section: Introductionmentioning

confidence: 99%

From CySkin to ProxySKIN: Design, Implementation and Testing of a Multi-Modal Robotic Skin for Human–Robot Interaction

Giovinazzo,

Grella,

Sartore

et al. 2024

Sensors

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The Industry 5.0 paradigm has a human-centered vision of the industrial scenario and foresees a close collaboration between humans and robots. Industrial manufacturing environments must be easily adaptable to different task requirements, possibly taking into account the ergonomics and production line flexibility. Therefore, external sensing infrastructures such as cameras and motion capture systems may not be sufficient or suitable as they limit the shop floor reconfigurability and increase setup costs. In this paper, we present the technological advancements leading to the realization of ProxySKIN, a skin-like sensory system based on networks of distributed proximity sensors and tactile sensors. This technology is designed to cover large areas of the robot body and to provide a comprehensive perception of the surrounding space. ProxySKIN architecture is built on top of CySkin, a flexible artificial skin conceived to provide robots with the sense of touch, and arrays of Time-of-Flight (ToF) sensors. We provide a characterization of the arrays of proximity sensors and we motivate the design choices that lead to ProxySKIN, analyzing the effects of light interference on a ToF, due to the activity of other sensing devices. The obtained results show that a large number of proximity sensors can be embedded in our distributed sensing architecture and incorporated onto the body of a robotic platform, opening new scenarios for complex applications.

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A Multi-Modal Sensor Array for Human–Robot Interaction and Confined Spaces Exploration Using Continuum Robots

Cited by 6 publications

References 31 publications

Design of a Hall effect sensor controlled brittle star inspired composite robotic limb

Design of a Hall effect sensor controlled brittle star inspired composite robotic limb

Sensing of Continuum Robots: A Review

From CySkin to ProxySKIN: Design, Implementation and Testing of a Multi-Modal Robotic Skin for Human–Robot Interaction

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