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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...

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Autores principales: Klimaszewski, Jan, Władziński, Michał
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
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.
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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
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