Soft Robotics pp 54-65

Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction

  • Stefan Escaida Navarro
  • Björn Hein
  • Heinz Wörn
Conference paper

Abstract

Recently we have shown developments on capacitive tactile proximity sensors (CTPS) and their applications. In this work we give an overview of these developments and put them into a more general perspective, emphasizing what the common grounds are for the different applications, i.e., preshaping and grasping, haptic exploration as well as collision avoidance and safe human-robot interaction. We discuss issues related to signal processing and the design of a smart skin for the robot arm and its end-effector. On a higher level we discuss the concept of proximity servoing and its use for the above mentioned applications.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Stefan Escaida Navarro
    • 1
  • Björn Hein
    • 1
  • Heinz Wörn
    • 1
  1. 1.Karlsruhe Institute of Technology (KIT)KarlsruheGermany

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