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Tactile sensing: a key technology for safe physical human robot interaction

Authors:

Markus Fritzsche,

Norbert Elkmann,

Erik SchulenburgAuthors Info & Claims

HRI '11: Proceedings of the 6th international conference on Human-robot interaction

Pages 139 - 140

https://doi.org/10.1145/1957656.1957700

Published: 06 March 2011 Publication History

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Abstract

Human-robot interaction in a shared workspace permits and often even requires physical contact between humans and robots. A key technology to ensure that physical human robot interaction is safe is to monitor contact forces by providing the robot with a tactile sensor as an artificial skin.

This paper introduces a pressure sensitive skin that can be adapted to complex geometries and offers reliable contact measurements on the entire robot body. Equipped with integrated cushioning elements the sensitive skin can reduce the risk of dangerous injuries in physical human-robot interaction. Beside safety related functions, the sensitive skin offers touch based robot motion control which simplifies human-robot interaction.

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Y. Ohmura, Y. Kuniyoshi, and A. Nagakubo, "Conformable and scalable tactile sensor skin for curved surfaces", in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, 2006, pp. 1348--1353.

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Sun HPark SHwang D(2025)Compact Modular Robotic Wrist With Variable Stiffness CapabilityIEEE Transactions on Robotics10.1109/TRO.2024.349245341(141-158)Online publication date: 2025
https://doi.org/10.1109/TRO.2024.3492453
S VMandil WNazari KParsons SE A(2024)Acoustic Soft Tactile Skin (AST Skin)2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610768(4105-4111)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610768
Mary Catherine VPaul BSharon AAntony AViswanathan D(2024)Fabrication of PDMS based flexible capacitive tactile sensor array with inkjet printed silver electrodes for robotic object grasp controlEngineering Research Express10.1088/2631-8695/ad99866:4(045356)Online publication date: 16-Dec-2024
https://doi.org/10.1088/2631-8695/ad9986
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Index Terms

Tactile sensing: a key technology for safe physical human robot interaction
1. Hardware
  1. Very large scale integration design
    1. Application-specific VLSI designs
      1. Application specific instruction set processors
2. Software and its engineering
  1. Software notations and tools
    1. General programming languages
      1. Language features
        Control structures

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Information & Contributors

Information

Published In

HRI '11: Proceedings of the 6th international conference on Human-robot interaction

March 2011

526 pages

ISBN:9781450305617

DOI:10.1145/1957656

General Chairs:
Aude Billard
EPFL, Switzerland
,
Peter Kahn
University of Washington, USA
,
Program Chairs:
Julie A. Adams
Vanderbilt University, USA
,
Greg Trafton
US Naval Research Laboratories, USA

In-Cooperation

RA: IEEE Robotics and Automation Society
Human Factors & Ergonomics Soc: Human Factors & Ergonomics Soc
The Association for the Advancement of Artificial Intelligence (AAAI)
IEEE Systems, Man and Cybernetics Society

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 06 March 2011

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HRI'11

Sponsor:

HRI'11: International Conference on Human-Robot Interaction

March 6 - 9, 2011

Lausanne, Switzerland

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Overall Acceptance Rate 268 of 1,124 submissions, 24%

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Cited By

View all

Sun HPark SHwang D(2025)Compact Modular Robotic Wrist With Variable Stiffness CapabilityIEEE Transactions on Robotics10.1109/TRO.2024.349245341(141-158)Online publication date: 2025
https://doi.org/10.1109/TRO.2024.3492453
S VMandil WNazari KParsons SE A(2024)Acoustic Soft Tactile Skin (AST Skin)2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610768(4105-4111)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610768
Mary Catherine VPaul BSharon AAntony AViswanathan D(2024)Fabrication of PDMS based flexible capacitive tactile sensor array with inkjet printed silver electrodes for robotic object grasp controlEngineering Research Express10.1088/2631-8695/ad99866:4(045356)Online publication date: 16-Dec-2024
https://doi.org/10.1088/2631-8695/ad9986
Wentao YYingxi XYinzhe FLongsheng LShu YRenpeng YHanxian CFeilong L(2024)Surface and Interface Functionalization of Laser Induced Graphene: Properties, Fabrication, and Applications to Flexible SensorResults in Surfaces and Interfaces10.1016/j.rsurfi.2024.100362(100362)Online publication date: Dec-2024
https://doi.org/10.1016/j.rsurfi.2024.100362
Farajtabar MCharbonneau M(2024)The path towards contact-based physical human–robot interactionRobotics and Autonomous Systems10.1016/j.robot.2024.104829182(104829)Online publication date: Dec-2024
https://doi.org/10.1016/j.robot.2024.104829
Lim BYoon J(2024)High‐Load Capable Soft Tactile Sensors: Incorporating Magnetorheological Elastomer for Accurate Contact Detection and Classification of Asymmetric Mechanical ComponentsAdvanced Intelligent Systems10.1002/aisy.202400275Online publication date: 27-Jun-2024
https://doi.org/10.1002/aisy.202400275
Baldini GStaiano MGrella FFrascio MMaiolino PCannata G(2023)Mathematical Model and Experimental Characterization of Vertically Stacked Capacitive Tactile SensorsIEEE Sensors Journal10.1109/JSEN.2023.330036323:18(21341-21354)Online publication date: 15-Sep-2023
https://doi.org/10.1109/JSEN.2023.3300363
Lu ZYang TCao ZLuo DZhang QLiang YDong Y(2023)Optical Soft Tactile Sensor Algorithm Based on Multiscale ResNetIEEE Sensors Journal10.1109/JSEN.2023.326463523:10(10731-10738)Online publication date: 15-May-2023
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Hou FLiu JLiu KWang PLi GGuo S(2023)3-D-Curved Iontronic Tactile Sensor and Denoising Method for Physical Human–Robot InteractionsIEEE Sensors Journal10.1109/JSEN.2023.324783423:7(7667-7682)Online publication date: 1-Apr-2023
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Al GMartinez-Hernandez U(2023)Multimodal Barometric and Inertial Measurement Unit-Based Tactile Sensor for Robot ControlIEEE Sensors Journal10.1109/JSEN.2022.322922723:3(1962-1971)Online publication date: 1-Feb-2023
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