Operating Method of Human Collaborative Robot using Self-Capacitance Proximity and Tactile Sensor

摘要

In recent years, human collaborative robots (HCRs) working in a same place with people has become more attractive. We have proposed a self-capacitance proximity and tactile skin sensor for HCRs. The structure of the sensor is simple and consists of two electrodes (E1 and E2) and an elastic body. The measurement system is also simple because only the self-capacitance measurement is used to detect objects both before and after contact. In this paper, we developed a ten-sensor system covering a whole robot surface. This sensor can detect objects before contact, and can detect pressure and positions after contact. In addition, we propose an operating method using the sensor for the safety and workability of HCRs. The proposed operating method including the sensor may be a useful system for HCRs.