Active Electric Perception-Based Haptic Modality with Applications to Robotics

Michael Zechmair; Yannick Morel

doi:10.1109/IROS55552.2023.10341465

Active Electric Perception-Based Haptic Modality with Applications to Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceeding › Academic › peer-review

Abstract

This paper describes the hardware implementation and characterization of a capacitive sensor designed to support detection and localization of nearby objects. The sensor can be mounted on the exterior of any given robotic system. The technology is particularly well-suited to detection of capacitive material, such as living tissue. As such, it offers perspectives of facilitating human-robot interactions (cobotics). We exploit experimental data to implement a digital model of the sensor and illustrate its accuracy by emulating experimental results in simulation. The sensor is used in a number of interaction scenarii (following and avoidance), providing examples of the manner in which it can be used to support human-robot interactions.

Original language	English
Title of host publication	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Pages	5950-5957
Number of pages	8
ISBN (Electronic)	9781665491907
DOIs	https://doi.org/10.1109/IROS55552.2023.10341465
Publication status	Published - 13 Dec 2023
Event	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems - Detroit, United States Duration: 1 Oct 2023 → 5 Oct 2023 https://ieee-iros.org/

Conference

Conference	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2023
Country/Territory	United States
City	Detroit
Period	1/10/23 → 5/10/23
Internet address	https://ieee-iros.org/

Access to Document

10.1109/IROS55552.2023.10341465

Cite this

@inproceedings{9db5b233540d41508c8f8b15871b2d43,

title = "Active Electric Perception-Based Haptic Modality with Applications to Robotics",

abstract = "This paper describes the hardware implementation and characterization of a capacitive sensor designed to support detection and localization of nearby objects. The sensor can be mounted on the exterior of any given robotic system. The technology is particularly well-suited to detection of capacitive material, such as living tissue. As such, it offers perspectives of facilitating human-robot interactions (cobotics). We exploit experimental data to implement a digital model of the sensor and illustrate its accuracy by emulating experimental results in simulation. The sensor is used in a number of interaction scenarii (following and avoidance), providing examples of the manner in which it can be used to support human-robot interactions.",

author = "Michael Zechmair and Yannick Morel",

note = "Funding Information: This research has received funding from the European Union s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Funding Information: 1Michael Zechmair and Yannick Morel are with Faculty of Psychology and Neuroscience, Maastricht University, Maastricht, The Netherlands, {m.zechmair,y.morel}@unimaas.nl 2Schematics, experimental data, and simulation models available at https://github.com/Mike2208/active electric perception This research has received funding from the European Union{\textquoteright}s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 ; Conference date: 01-10-2023 Through 05-10-2023",

year = "2023",

month = dec,

day = "13",

doi = "10.1109/IROS55552.2023.10341465",

language = "English",

pages = "5950--5957",

booktitle = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE",

address = "United States",

url = "https://ieee-iros.org/",

}

Zechmair, M & Morel, Y 2023, Active Electric Perception-Based Haptic Modality with Applications to Robotics. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, pp. 5950-5957, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, Michigan, United States, 1/10/23. https://doi.org/10.1109/IROS55552.2023.10341465

TY - GEN

T1 - Active Electric Perception-Based Haptic Modality with Applications to Robotics

AU - Zechmair, Michael

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N1 - Funding Information: This research has received funding from the European Union s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Funding Information: 1Michael Zechmair and Yannick Morel are with Faculty of Psychology and Neuroscience, Maastricht University, Maastricht, The Netherlands, {m.zechmair,y.morel}@unimaas.nl 2Schematics, experimental data, and simulation models available at https://github.com/Mike2208/active electric perception This research has received funding from the European Union’s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No. 785907 (Human Brain Project SGA3). Publisher Copyright: © 2023 IEEE.

PY - 2023/12/13

Y1 - 2023/12/13

N2 - This paper describes the hardware implementation and characterization of a capacitive sensor designed to support detection and localization of nearby objects. The sensor can be mounted on the exterior of any given robotic system. The technology is particularly well-suited to detection of capacitive material, such as living tissue. As such, it offers perspectives of facilitating human-robot interactions (cobotics). We exploit experimental data to implement a digital model of the sensor and illustrate its accuracy by emulating experimental results in simulation. The sensor is used in a number of interaction scenarii (following and avoidance), providing examples of the manner in which it can be used to support human-robot interactions.

AB - This paper describes the hardware implementation and characterization of a capacitive sensor designed to support detection and localization of nearby objects. The sensor can be mounted on the exterior of any given robotic system. The technology is particularly well-suited to detection of capacitive material, such as living tissue. As such, it offers perspectives of facilitating human-robot interactions (cobotics). We exploit experimental data to implement a digital model of the sensor and illustrate its accuracy by emulating experimental results in simulation. The sensor is used in a number of interaction scenarii (following and avoidance), providing examples of the manner in which it can be used to support human-robot interactions.

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DO - 10.1109/IROS55552.2023.10341465

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