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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Navarro, S., Hein, B., Wörn, H. (2015). Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction. In: Verl, A., Albu-Schäffer, A., Brock, O., Raatz, A. (eds) Soft Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44506-8_6
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DOI: https://doi.org/10.1007/978-3-662-44506-8_6
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