TY - GEN
T1 - Capacitive skin sensors for robot impact monitoring
AU - Phan, Samson
AU - Quek, Zhan Fan
AU - Shah, Preyas
AU - Shin, Dongjun
AU - Ahmed, Zubair
AU - Khatib, Oussama
AU - Cutkosky, Mark
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455208637&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455208637&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048844
DO - 10.1109/IROS.2011.6048844
M3 - Conference contribution
AN - SCOPUS:84455208637
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2992
EP - 2997
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -