Smart capacitive force-proximity skin sensor with Tactile AI and adjustable spatial resolution and dynamic sensing range for safe and intuitive human-robot interaction

2022 Fiscal Year Research-status Report

• Project/Area Number: 22K04017
• 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): 2022-04-01 – 2025-03-31
• Keywords: Tactile sensor / Proximity sensor / Capacitive sensor / Smart sensor

Outline of Annual Research Achievements

A prototype of the sensor was created. In this version, the concept and the working principle of the 'adjustable spatial resolution' and the 'dynamic sensing range' were confirmed. Experiments showed that the resolution of the sensor can be increased and decreased quickly. At the same time, the sensing range was decreased and increased, respectively. This ability to quickly change the resolution add the versatility of the sensor; the sensor can detect the approach from further away and also able to localize the proximity in a short period of time (~12 Hz).

Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

Sensor's prototype was created. The concept and working principle of the adjustable resolution was tested.

Strategy for Future Research Activity

The phenomenon of self-sensing of between several units of the sensor will be further studied. This will be used as a baseline for developing 'Tactile AI' that can compensate for interference such as self-sensing and static objects in the environment.

Causes of Carryover

Most of this FY budget will be more useful for the research plan in the next FY.
This year, the budget of the previous proposal was spent.