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Hosam Alagi

7 accepted papers

2025

Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications

Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann +3
RA-L 2025

In this letter, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furt

Cited by 5Source ↗Scholar ↗
2022

Capacitive Proximity Sensor for Non-Contact Endoscope Localization

Christian Marzi, Hosam Alagi, Olivia Rau, Jochen Hampe, Jan Gerrit Korvink, Björn Hein +1
ICRA 2022poster

The promising automation of flexible surgical instruments and robots is impeded by the lack of sensory means, which allow for sensing of an instrument's position to the surrounding tissue. This work presents a novel sensory method utilizing capacitive proximity sensing to derive a relative localizat…

Cited by 7Source ↗Scholar ↗
2022

Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration

Hosam Alagi, Serkan Ergun, Yitao Ding, Tom P. Huck, Ulrike Thomas, Hubert Zangl +1
IROS 2022poster

A robot must comply with very restrictive safety standards in close human-robot collaboration applications. These standards limit the robot's performance because of speed reductions to avoid potentially large forces exerted on humans during collisions. On-robot capacitive proximity sensors (CPS) can…

Cited by 5Source ↗Scholar ↗
2021

A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

Serkan Ergun, Yitao Ding, Hosam Alagi, Christian Schöffmann, Barnaba Ubezio, Gergely Soti +6
ICRA 2021poster

During the co-presence of human workers and robots, measures are required to avoid injuries from undesired contacts. Capacitive Proximity Sensors (CPSs) offer a cost-effective solution to cover the entire robot manipulator with fast close-range perception for HRC tasks, closing the perception gap be…

Cited by 13Source ↗Scholar ↗
2021

Grasp Detection for Robot to Human Handovers Using Capacitive Sensors

Ilshat Mamaev, David Kretsch, Hosam Alagi, Björn Hein
ICRA 2021poster

As it happens, despite yet unmatched by robots perception and motor skills humans drop objects during handover because of false grasp detection and early release. Accordingly, the fluent robot-human handover is still an open challenge. This paper presents an approach to a natural robot to human hand…

Cited by 11Source ↗Scholar ↗
2020

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Stefan Escaida Navarro, Steven Nagels, Hosam Alagi, Lisa-Marie Faller, Olivier Goury, Thor Morales Bieze +6
RA-L 2020

In this letter, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of soft capacitive sensing to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the

Cited by 63Source ↗Scholar ↗
2018

Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution

Hosam Alagi, Alexander Heiligl, Stefan Escaida Navarro, Torsten Kroegerl, Björn Hein
IROS 2018poster

In this paper we present an approach for material recognition using capacitive tactile and proximity sensors. By variating the spatial resolution and the exciter frequency during the measurement in mutual capacitive mode, information about the dielectrical properties of different objects was capture…

Cited by 29Source ↗Scholar ↗