Methods for safe human-robot-interaction using capacitive tactile proximity sensors

Navarro, Stefan Escaida; Marufo, Maximiliano; Ding, Yitao; Puls, Stephan; Göger, Dirk; Hein, Björn; Wörn, Heinz

doi:10.1109/iros.2013.6696495

Cited by 38 publications

(14 citation statements)

References 14 publications

(21 reference statements)

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“…In collision avoidance [21] and human-robot interaction tasks, tactile sensors must provide information about the presence of contact and measure the strength of contact force, respectively. 2) Exploration.…”

Section: Tactile Sensing Technologiesmentioning

confidence: 99%

See 1 more Smart Citation

Tactile sensing in dexterous robot hands — Review

Kappassov¹,

Ramón²,

Perdereau³

2015

Robotics and Autonomous Systems

636

358

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Section: Tactile Sensing Technologiesmentioning

confidence: 99%

“…Tactile sensing in robot hands is used for object recognition, tactile servoing, force control and for assessing grasp stability. [21]. A commercial industrial manipulator that incorporates 118 proximity sensors is shown in [122].…”

Section: Large Area Tactile Skinmentioning

confidence: 99%

Tactile sensing in dexterous robot hands — Review

Kappassov¹,

Ramón²,

Perdereau³

2015

Robotics and Autonomous Systems

636

358

View full text Add to dashboard Cite

show abstract

“…Task-oriented approaches have also been used for adapting the physical structure of assistive robot manipulators to the user's needs [31,32]. One of the advantages of the system proposed here is that it should scale well also to much higher density proximity sampling, for example in approaches based on electric fields [33,34]. It is also interesting to note that a behavioural approach that from an algorithmic point of view looks very simple, can provide quantitative and qualitative improvements in performance on a complex human-robot system.…”

Section: Discussionmentioning

confidence: 99%

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Stoelen

Tejada

Jardón

et al. 2016

Paladyn, Journal of Behavioral Robotics

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Abstract:The teleoperation of robot manipulators over the internet suffers from variable delays in the communications. Here we address a tele-assistance scenario, where a remote operator assists a disabled or elderly user on daily life tasks. Our behavioral approach uses local environment information from robot sensing to help enable faster execution for a given movement tolerance. This is achieved through a controller that automatically slows the operator down before having collisions, using a set of distributed proximity sensors. The controller is made to gradually increase the assistance in situations similar to those where ollisions have occurred in the past, thus adapting to the given operator, robot and task-set. Two controlled virtual experiments for tele-assistance with a 5 DOF manipulator were performed, with 300 ms and 600 ms mean variable round-trip delays. The results showed significant improvements in the median times of 12.6% and 16.5%, respectively. Improvements in the subjective workload were also seen with the controller. A first implementation on a physical robot manipulator is described.

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“…Hoffmann et al mounted capacitive sensors to the surface of two industrial robotic arms, which the robots could use to detect and avoid people in the workspace [8]. Additionally, Navarro et al presented a capacitive sensor design for safer human-robot interaction, consisting of a table-mounted 3 by 16 grid of sensors for estimating the location and proximity of a nearby human hand [9].…”

Section: A Capacitive Sensingmentioning

confidence: 99%

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Erickson

Clever

Gangaram

et al. 2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on a person's limb and the orientation of the limb's central axis relative to the sensor's frame of reference. These pose estimates enable the robot to move its end effector with respect to the limb using feedback control. We demonstrate that a PR2 robot can use this approach with a custom six electrode capacitive sensor to assist with two activities of daily livingdressing and bathing. The robot pulled the sleeve of a hospital gown onto able-bodied participants' right arms, while tracking human motion. When assisting with bathing, the robot moved a soft wet washcloth to follow the contours of able-bodied participants' limbs, cleaning their surfaces. Overall, we found that multidimensional capacitive sensing presents a promising approach for robots to sense and track the human body during assistive tasks that require physical human-robot interaction.

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Methods for safe human-robot-interaction using capacitive tactile proximity sensors

Cited by 38 publications

References 14 publications

Tactile sensing in dexterous robot hands — Review

Tactile sensing in dexterous robot hands — Review

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

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