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

Alagi, Hosam ORCID iD icon 1; Ergun, Serkan; Ding, Yitao; Huck, Tom P. ORCID iD icon 1; Thomas, Ulrike; Zangl, Hubert; Hein, Bjorn 1
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)

Abstract (englisch):

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 serve as a solution to allow higher speeds and thus better productivity. They allow early reactive measures before contacts occur to reduce the forces during collisions. An open question on designing the systems is the selection of an adequate activation distance to trigger safety measures for a specific robot while considering latency and detection robustness. Furthermore, the systems' actual effectiveness of impact attenuation and performance gain has not been evaluated before. In this work, we define and conduct a unified test procedure based on collision experiments to determine these parameters and investigate the performance gain. Two capacitive proximity sensor systems are evaluated on this test strategy on two robots. A significant performance increase can be achieved, since a small detection distance doubles robot operation speed while maintaining the same contact force as without Capacitive Proximity Sensor (CPS). ... mehr


Originalveröffentlichung
DOI: 10.1109/IROS47612.2022.9981490
Scopus
Zitationen: 2
Dimensions
Zitationen: 2
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2022
Sprache Englisch
Identifikator ISBN: 978-1-66547-927-1
ISSN: 2153-0866
KITopen-ID: 1000154190
Erschienen in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23rd - 27th October 2022
Veranstaltung IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyōto, Japan, 23.10.2022 – 27.10.2022
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 6716–6723
Serie Proceedings of the International Conference on Intelligent Robots and Systems
Vorab online veröffentlicht am 26.12.2022
Nachgewiesen in Scopus
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