Integrated sensitivity-adjustable 3-axis tactile and proximity sensor as distributed, robust, and soft robotic skin system for safe human-robot collaboration

2022 Fiscal Year Final Research Report

• Project/Area Number: 19K14948
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Waseda University
• Principal Investigator: SOMLOR Sophon 早稲田大学, 理工学術院総合研究所(理工学研究所), 次席研究員(研究院講師) (40791231)
• Project Period (FY): 2019-04-01 – 2023-03-31
• Keywords: Tactile sensor / Proximity sensor / Capacitive sensor

Outline of Final Research Achievements

A low-cost compliant capacitive Force/proximity sensor called "Safe Skin" has been developed. The sensor can sense the distance up to 400 mm and the force up to 40 N. The sensor was tested, and its result was published in IROS 2021. Three sizes of sensors were tested to evaluate their performance. The size of 120 x 120 gives the best performance.
Several units of the proposed sensor were installed in NICEBOT, a robot arm. Several characteristics of the sensors then were tested. In particular, the external disturbance and the effect of self-sensing that affects the measurement of the sensor was studied.

Free Research Field

Tactile Sensor

Academic Significance and Societal Importance of the Research Achievements

With the force/proximity sensors installed on a robot, it can provide proximity and contact force information that can be used by the robot to adjust its action in order to ensure the safety of nearby humans while being able to work. The current version provide promising results for future research.