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Published October 10, 2021 | Version v1
Conference paper Open

A Novel Tactile Device for Safe Human-Robot Interaction in Industrial Scenarios

Description

In this paper we present a novel device based on tactile sensing, designed to enable physical interaction between an industrial robot and its operator. Capacitive tactile sensing technology has been embodied in a cylinder-shaped handle, in order to exploit physical interaction information to safely enable human-robot cooperative tasks. The device provides interaction force by measuring exerted pressure, as well as a semantic detection of the human hand. We use the latter feature in order to detect voluntary human-robot interaction, identified when the user is firmly grasping the device with one hand. A prototype has been implemented using 3D printing technology its operation assessment has been performed with bench tests.

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