RT Journal Article
T1 Adding Proximity Sensing Capability to Tactile Array Based on Off-the-Shelf FSR and PSoC
A1 Castellanos-Ramos, Julian
A1 Trujillo-Leon, Andres
A1 Navas-Gonzalez, Rafael
A1 Barbero-Recio, Francisco
A1 Antonio Sanchez-Duran, Jose
A1 Oballe-Peinado, Oscar
A1 Vidal-Verdu, Fernando
K1 Robot sensing systems
K1 Force
K1 Electrodes
K1 Sensor phenomena and characterization
K1 Optical sensors
K1 Multimodal sensors
K1 pretouch
K1 programmable system on chip (PSoC)
K1 proximity sensors
K1 tactile sensors
K1 Sensor
K1 Implementation
AB Tactile sensors have been incorporated into robots to help in many tasks, such as preventing damage to humans in collaborative works or assistance or in dexterous manipulation. Proximity sensors are also common in robotics and are proposed to implement pretouch in multimodal realizations. Many tactile sensors are based on off-the-shelf force-sensing resistors (FSRs). The parasitic capacitance associated with the electrodes of the FSR can be exploited to measure proximity. Moreover, it is possible to implement both force and proximity signal acquisition with a single chip. This article presents a multimodal proximity and tactile patch based on commercial FSR plus a programmable system on chip (PSoC). The ability to measure proximity is achieved without adding any extra element. Discussions about key design issues as well as results that show the performance of the sensor patch are presented. As proximity sensing array, the range is in the order of the size of the electrodes, and it depends on the properties of the object nearby, as expected. The best performance is observed for conductive objects. Therefore, this approach is especially interesting in human-robot interaction tasks, such as shaping robotic hands or grippers around the human body. Furthermore, dielectric objects are also detected, so it can also be used to implement pretouch in manipulation tasks.
PB Ieee-inst electrical electronics engineers inc
SN 0018-9456
YR 2020
FD 2020-07-01
LK http://hdl.handle.net/10668/18980
UL http://hdl.handle.net/10668/18980
LA en
DS RISalud
RD Apr 10, 2025