String‐Like Self‐Capacitance‐Based Proximity and Tactile Sensor that Can be Wrapped Around Robotic Arms

IF 1 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC IEEJ Transactions on Electrical and Electronic Engineering Pub Date : 2024-09-13 DOI:10.1002/tee.24191

Satoshi Tsuji

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Abstract

Cooperative robots that perform safety functions as part of cooperative work with humans have been recently drawing attention. Proximity and tactile sensors that can be retrofitted to a robot's surface are important safety measures for existing robots that are not manufactured as cooperative robots to be used as cooperative robots. In this paper, a string‐like self‐capacitance‐based proximity and tactile sensor that can be easily wrapped around various types of existing robots is proposed. The novel and useful point in this paper is that it can be easily mounted on various robots by a flexible string‐like proximity and tactile sensor. The sensor module can be adjusted to the required length by connecting different numbers of modules depending on the mounting surface. As a demonstration, six prototype sensor modules were connected by each connector and wrapped around a robotic arm. The sensor modules on the robot's surface could detect an object within its proximity range and detect the rough pressure after contact. In addition, the robotic arm with the sensor modules could be controlled in real time using the data obtained from the sensor that are object detection data at proximity range. These results confirm that the proposed sensor module can be used in the proximity and tactile sensors of existing robots. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

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可缠绕在机械臂上的基于自电容的绳状接近和触觉传感器

最近，作为与人类合作工作的一部分而执行安全功能的合作机器人引起了人们的关注。可以加装在机器人表面的接近传感器和触觉传感器，对于现有的非协作机器人作为协作机器人使用来说，是非常重要的安全措施。本文提出了一种基于线状自电容的接近和触觉传感器，可以方便地缠绕在各种现有机器人上。本文的新颖和实用之处在于，它可以通过柔性绳状接近和触觉传感器方便地安装在各种机器人上。传感器模块可以根据安装表面的不同，通过连接不同数量的模块来调整到所需的长度。作为演示，六个传感器模块原型由每个连接器连接，并缠绕在机器人手臂上。机器人表面上的传感器模块可以检测其接近范围内的物体，并检测接触后的粗糙压力。此外，还可以利用传感器获得的数据（即近距离范围内的物体检测数据）实时控制装有传感器模块的机械臂。这些结果证实，所提出的传感器模块可用于现有机器人的接近和触觉传感器。© 2024 日本电气工程师学会和 Wiley Periodicals LLC。

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来源期刊

IEEJ Transactions on Electrical and Electronic Engineering 工程技术-工程：电子与电气

CiteScore

2.70

自引率

10.00%

发文量

199

审稿时长

4.3 months

期刊介绍： IEEJ Transactions on Electrical and Electronic Engineering (hereinafter called TEEE ) publishes 6 times per year as an official journal of the Institute of Electrical Engineers of Japan (hereinafter "IEEJ"). This peer-reviewed journal contains original research papers and review articles on the most important and latest technological advances in core areas of Electrical and Electronic Engineering and in related disciplines. The journal also publishes short communications reporting on the results of the latest research activities TEEE ) aims to provide a new forum for IEEJ members in Japan as well as fellow researchers in Electrical and Electronic Engineering from around the world to exchange ideas and research findings.

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