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Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin
Safety in human–machine cooperation is the current challenge in robotics. Safe human–robot interaction requires the development of sensors that detect human presence in the robot’s workspace. Detection of this presence should occur before the physical collision of the robot with the human. Human to...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8003171/ https://www.ncbi.nlm.nih.gov/pubmed/33803791 http://dx.doi.org/10.3390/s21062138 |
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author | Klimaszewski, Jan Władziński, Michał |
author_facet | Klimaszewski, Jan Władziński, Michał |
author_sort | Klimaszewski, Jan |
collection | PubMed |
description | Safety in human–machine cooperation is the current challenge in robotics. Safe human–robot interaction requires the development of sensors that detect human presence in the robot’s workspace. Detection of this presence should occur before the physical collision of the robot with the human. Human to robot proximity detection should be very fast, allowing machine elements deceleration to velocities safe for human–machine collision. The paper presents a new, low-cost design of distributed robotic skin, which allows real-time measurements of the human body parts proximity. The main advantages of the proposed solution are low cost of its implementation based on comb electrodes matrix and real-time operation due to fast and simple electronic design. The main contribution is the new idea of measuring the distance to human body parts by measuring the operating frequency of a rectangular signal generator, which depends on the capacity of the open capacitor. This capacitor is formed between the comb electrodes matrix and a reference plate located next to the matrix. The capacitance of the open capacitor changes if a human body part is in vicinity. The application of the developed device can be very wide. For example, in the field of cooperative robots, it can lead to the improvement of human–machine interfaces and increased safety of human–machine cooperation. The proposed construction can help to meet the increasing requirements for cooperative robots. |
format | Online Article Text |
id | pubmed-8003171 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-80031712021-03-28 Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin Klimaszewski, Jan Władziński, Michał Sensors (Basel) Communication Safety in human–machine cooperation is the current challenge in robotics. Safe human–robot interaction requires the development of sensors that detect human presence in the robot’s workspace. Detection of this presence should occur before the physical collision of the robot with the human. Human to robot proximity detection should be very fast, allowing machine elements deceleration to velocities safe for human–machine collision. The paper presents a new, low-cost design of distributed robotic skin, which allows real-time measurements of the human body parts proximity. The main advantages of the proposed solution are low cost of its implementation based on comb electrodes matrix and real-time operation due to fast and simple electronic design. The main contribution is the new idea of measuring the distance to human body parts by measuring the operating frequency of a rectangular signal generator, which depends on the capacity of the open capacitor. This capacitor is formed between the comb electrodes matrix and a reference plate located next to the matrix. The capacitance of the open capacitor changes if a human body part is in vicinity. The application of the developed device can be very wide. For example, in the field of cooperative robots, it can lead to the improvement of human–machine interfaces and increased safety of human–machine cooperation. The proposed construction can help to meet the increasing requirements for cooperative robots. MDPI 2021-03-18 /pmc/articles/PMC8003171/ /pubmed/33803791 http://dx.doi.org/10.3390/s21062138 Text en © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Communication Klimaszewski, Jan Władziński, Michał Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin |
title | Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin |
title_full | Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin |
title_fullStr | Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin |
title_full_unstemmed | Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin |
title_short | Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin |
title_sort | human body parts proximity measurement using distributed tactile robotic skin |
topic | Communication |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8003171/ https://www.ncbi.nlm.nih.gov/pubmed/33803791 http://dx.doi.org/10.3390/s21062138 |
work_keys_str_mv | AT klimaszewskijan humanbodypartsproximitymeasurementusingdistributedtactileroboticskin AT władzinskimichał humanbodypartsproximitymeasurementusingdistributedtactileroboticskin |