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Development of Matrix of Combined Force and Proximity Sensors for Use in Robotics

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Interactive Collaborative Robotics (ICR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12998))

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Abstract

The paper presents the development of a matrix of combined force and proximity sensors of a capacitive type for use in robotics. The sensor has a simple structure, and is structurally composed of three layers, which makes it possible to manufacture the sensor with a small thickness. To produce the sensor, readily available materials and technologies are used. The developed interface circuit for signal processing of primary capacitive converters allows them to be combined into matrices of various configurations, where each converter is a matrix cell. The dimensions of the cells of the prototype matrix sensor used in the experiments is 12 × 12 mm, and its total thickness is 4.2 mm. In the experiments, the characteristics of the sample of the matrix of combined sensors were obtained by the approach of objects made of various materials, as well as the dependence of the output signal of the matrix sensor on the applied pressure force. The highest sensitivity to the proximity of the manufactured sensor array is observed in the range from 0 to 1.8 mm for both types of objects, while the sensitivity of the prototype to the approach of metal objects is on average greater than the sensitivity to the approach of objects made of non-conductive materials. The prototype of the matrix of combined sensors has a high sensitivity to the applied force in the area up to 10 N, while the matrix of sensors allows to unambiguously determine the force applied to the matrix cells up to 25 N. The developed solution can be used to control the gait of walking robots, as well as in manipulation systems to improve the process gripping and manipulating objects.

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Authors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), 39, 14th Line, 199178, St. Petersburg, Russia

    Konstantin Krestovnikov, Aleksei Erashov & Aleksandr Bykov

Authors
  1. Konstantin Krestovnikov
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  2. Aleksei Erashov
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  3. Aleksandr Bykov
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Correspondence to Aleksei Erashov .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. V. A. Trapeznikov Institute of Control Sciences, Moscow, Russia

    Roman Meshcheryakov

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Krestovnikov, K., Erashov, A., Bykov, A. (2021). Development of Matrix of Combined Force and Proximity Sensors for Use in Robotics. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2021. Lecture Notes in Computer Science(), vol 12998. Springer, Cham. https://doi.org/10.1007/978-3-030-87725-5_10

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  • DOI: https://doi.org/10.1007/978-3-030-87725-5_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-87724-8

  • Online ISBN: 978-3-030-87725-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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