Tomographic Artificial Skin for Robotic Application
Sprache des Titels:
Proceedings of ICARCV
As technology advances, robots are becoming
more and more a part of our daily lives. While industrial robots
have already been in use for a several years, an increasing
number of robots are also employed in the private environment.
Human-robot cooperation requires ways to detect interactions
in order to prevent possible harms. This paper presents a
novel artificial skin made of conductive rubber for robot
end-effectors. Integrated electrodes enable proximity, touch
and force detection by combining impedance and capacitance
tomography techniques. The results of measurements carried
out on a prototype are presented in order to show how the
tomographic methods provide a local resolution of the detection
of close objects and of the force measurement.