A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping

In the future, human-robot interaction will include collaboration in close-quarters where the environment geometry is partially unknown. As a means for enabling such interaction, this paper presents a multi-modal sensor array capable of contact detection and localization, force sensing, proximity sensing, and mapping. The sensor array integrates Hall effect and time-of-flight (ToF) sensors in an I 2 C communication network. The design, fabrication, and characterization of the sensor array for a future in-situ collaborative continuum robot are presented. Possible perception benefits of the sensor array are demonstrated for accidental contact detection, mapping of the environment, selection of admissible zones for bracing, and constrained motion control of the end effector while maintaining a bracing constraint with an admissible rolling motion.

Authors

• Colette Abah
• Andrew L. Orekhov
• Garrison L. H. Johnston
• Peng Yin 0001
• Howie Choset
• Nabil Simaan

Keywords

• Robot sensing systems
• Force
• Sensor arrays
• Hall effect
• Multiplexing
• Sensor Array
• Human-robot Interaction
• Safe Interaction
• Multimodal Sensor
• Safe Human-robot Interaction
• End-effector
• Environment Map
• Magnetic Field
• Color Change
• Field Strength
• Magnetometer
• Functional Experiments
• Point Cloud
• Magnetic Field Strength
• Printed Circuit Board
• Communication Protocol
• Magnetic Flux
• Situational Awareness
• Force Sensor
• Hall Sensor
• Time-of-flight Sensors
• Random Sample Consensus
• Work-related Musculoskeletal Disorders
• User Datagram Protocol
• Human Users
• Magnetic Field Sensors
• Sensor Design
• Wearable Devices
• Musculoskeletal Disorders
• Robot perception
• Collaborative robots
• Continuum robots
• Bracing
• Mapping