7 accepted papers
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…
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…
We present a system which improves the safety and accuracy of impedance controlled robotic manipulators with proximity perception. Proximity servoed manipulators, which use proximity sensors attached to the robot’s outer shell, have recently demonstrated robust collision avoidance abilities. Neverth…
Collision avoidance is a key technology towards safe human-robot interaction, especially on-line and fastreacting motions are required. Skins with proximity sensors mounted on the robot's outer shell provide an interesting approach to occlusion-free and low-latency perception. However, collision avo…
The ability of detecting materials plays an important role in robotic applications. The robot can incorporate the information from contactless material detection and adapt its behavior in how it grasps an object or how it walks on specific surfaces. In this, paper we apply machine learning on impeda…
In this paper, we present a serial kinematic robot manipulator equipped with multimodal proximity sensing modules not only on the TCP but distributed on the robot's surface. The combination of close distance proximity information from capacitive and time-of-flight (ToF) measurements allows the robot…
In this paper, we present a method for contactless material detection with capacitive proximity sensing skins. Our new approach extends the current state-of-the-art proximity and distance sensing methods and measures the characteristic impedance spectrum of an object to obtain material properties. B…