engleski

A capacitive sensor for human-robot interaction

Human robot interaction is an issue mostly oriented toward service robotics but recently has a significant impact in the field of assembly applications. Assembly is a highly complex field where technical systems lack sophisticated human manipulation skills and possibilities. A simple capacitive sensor has been developed for aiding the human-robot interaction in industrial applications. The capacitive sensor consists of rubber foam with an embedded highly flexible metal grid. The sensor is connected to an Arduino controller and mounted on the robot. When the human operator is in contact or in close vicinity of the robot the change of capacitance is detected. The Arduino controller sends messages through TCP/IP protocol to a FANUC LR 200iC 5L articulated robot arm controlling unit. The robot responds based on the input and is able to reduce speed or stop current movement and operation. A prototype sensor is described in detail and test applications are presented.

Human-robot interaction; Capacitive sensor; Arduino controller

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