A Multi-Modal Sensor Array for Human-Robot Interaction and Confined Spaces Exploration Using Continuum Robots.

ABSTRACT: Safe human-robot interaction requires robots endowed with perception. This paper presents the design of a multi-modal sensory array for continuum robots, targeting operation in semi-structured confined spaces with human users. Active safety measures are enabled via sensory arrays capable of simultaneous sensing of proximity, contact, and force. Proximity sensing is achieved using time-of-flight sensors, while contact force is sensed using Hall effect sensors and embedded magnets. The paper presents the design and fabrication of these sensors, the communication protocol and multiplexing scheme used to allow an interactive rate of communication with a high-level controller, and an evaluation of these sensors for actively mapping the shape of the environment and compliance control using gestu

SUBMITTER: Abah C 

PROVIDER: S-EPMC9417101 | biostudies-literature | 2022 Feb

REPOSITORIES: biostudies-literature