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Serkan Ergun

4 accepted papers

2026

CapTac: Robust Capacitive Sensing for Distributed Force Mapping in Parallel Robotic Grasping

Serkan Ergun, Rishabh B. Mishra, Narendiran Anandan, Tobias Mitterer, Virgilio Mattoli, Hubert Zangl
RA-L 2026

For reliably grasping sensitive and delicate objects, measuring the distribution of normal and shear forces across contact areas is crucial-particularly for slip detection and preventing damage of delicate objects. This necessitates sensors that are easily integrated into robotic fingers (small form

Cited by 1Source ↗code ↗Scholar ↗
2023

Wireless Capacitive Tactile Sensor Arrays for Sensitive/Delicate Robot Grasping

Serkan Ergun, Tobias Mitterer, Sherjeel Khan, Narendiran Anandan, Rishabh B. Mishra, Jürgen Kosel +1
IROS 2023poster

Uncertainties in grasp prediction for unknown, arbitrarily shaped objects in cluttered environments and un- certainty of the kinematics (e.g., series elastic robots or soft robots) can lead to poor grasps. For delicate objects, such poor grasps may damage the objects when they are dropped or when hi…

Cited by 3Source ↗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 ↗