Capacitive skin sensors for robot impact monitoring

Samson Phan, Zhan Fan Quek, Preyas Shah, Dongjun Shin, Zubair Ahmed, Oussama Khatib, Mark Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Citations (Scopus)

Abstract

A new generation of robots is being designed for human occupied workspaces where safety is of great concern. This research demonstrates the use of a capacitive skin sensor for collision detection. Tests demonstrate that the sensor reduces impact forces and can detect and characterize collision events, providing information that may be used in the future for force reduction behaviors. Various parameters that affect collision severity, including interface friction, interface stiffness, end tip velocity and joint stiffness irrespective of controller bandwidth are also explored using the sensor to provide information about the contact force at the site of impact. Joint stiffness is made independent of controller bandwidth limitations using passive torsional springs of various stiffnesses. Results indicate a positive correlation between peak impact force and joint stiffness, skin friction and interface stiffness, with implications for future skin and robot link designs and post-collision behaviors.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2992-2997
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/TerritoryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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