Abstract
In recent years, human collaborative robots (HCRs) working in a same place with people has become more attractive. We have proposed a self-capacitance proximity and tactile skin sensor for HCRs. The structure of the sensor is simple and consists of two electrodes (E 1 and E 2 ) and an elastic body. The measurement system is also simple because only the self-capacitance measurement is used to detect objects both before and after contact. In this paper, we developed a ten-sensor system covering a whole robot surface. This sensor can detect objects before contact, and can detect pressure and positions after contact. In addition, we propose an operating method using the sensor for the safety and workability of HCRs. The proposed operating method including the sensor may be a useful system for HCRs.
Highlights
Most current robots are industrial robots that work mainly in factories
We propose an operating method for human collaborative robots (HCRs) using the proposed self-capacitance proximity and tactile sensor
We developed a ten-sensor system suitable for robot surfaces [15]
Summary
Most current robots are industrial robots that work mainly in factories. Many of the working spaces of these industrial robots are separated from people by fences to ensure safety. Human collaborative robots (HCRs) working in the same place with people has become more attractive. Workability and space-saving can be expected when HCRs work in a same space as people. HCRs require various sensors for workability and safety in collaboration with humans. Skin sensors covering the entire robot are important for detecting contact conditions with objects
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