Skin-Type Proximity Sensor by Using the Change of Electromagnetic Field

This article presents a sensor, called a skin-type dual proximity sensor (STPS) that can provide distance information in the form of impedance between a sensor and an approaching object before the collision. Meanwhile, a new method regarding the selection of the resonant frequency range for optimizi...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2021-03, Vol.68 (3), p.2379-2388
Main Authors: Nguyen, Tien Dat, Kim, Taesung, Noh, Jiho, Phung, Hoa, Kang, Gitae, Choi, Hyouk Ryeol
Format: Article
Language:English
Subjects:
Capacitance
Capacitive proximity sensor
Electrodes
electromagnetic field
Electromagnetic fields
Frequency ranges
human collaborative robots (HCRs)
inductive proximity sensor
Metals
Proximity
Resonant frequencies
Robot sensing systems
Robots
Sensors
Service robots
Signal processing
skin-type dual proximity sensor (STPS)
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Summary:This article presents a sensor, called a skin-type dual proximity sensor (STPS) that can provide distance information in the form of impedance between a sensor and an approaching object before the collision. Meanwhile, a new method regarding the selection of the resonant frequency range for optimizing the measured distance is validated. The sensor adopts the combined sensing principle of inductive-capacitive proximity sensing. STPS can be fabricated with various dimensions and shapes, and easily attached to robot surfaces. Represented by the series of sensors studied with the dimensions of 100 × 100 × 2.75  \text{mm}, the proposed sensor can detect an approaching human body up to 300 mm away. In this article, sensor system modeling and simulation are conducted, followed by fabrication and signal processing methods. Finally, the performances of the sensor are experimentally validated, thoroughly analyzed concerning various parameters, and demonstrated with the collaboration between human and robots.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2020.2975503