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Research

 


Combined Proximity and Tactile Sensor


 

 

  The tactile proximity sensor provides pressure and contact location information on the curved surface of the robot arm or end-effector in contact with the distance, depending on the object. Proximity and tactile sensing mechanism incorporating ToF sensing and capacitive and inductive measurements. The corresponding sensor detects an object that is approaching the sensor and detects whether it is contacted and the force.

  This sensor can perform 1) long-range proximity detection through ToF and 2) short-range proximity detection through capacitance measurement, 3) tactile detection through magnetic inductive measurement, and three types of sensing methods and structures. Additionally, the sensor is designed to have a structure that can be bent depending on the application.

 


Principle of Sensor


    Long-range and short-range proximity detection is performed through signals emitted from ToF sensors and capacitance sensors. It measures the capacitance between a copper plate and an object like a human hand. The distance between the upper and lower parts of the sensor changes according to the force of contact with the object, and this is detected through the difference in inductance.

 


Application of Sensor


    The sensors are attached to the surfaces of collaborative and mobile robots to ensure safety at a close distance from humans. This sensor covers the FoV of sensors such as LiDAR and camera and provides faster response speed. It also has the advantage of being able to perform field sensing.

 


Publications


 

  1. • 임홍식, Tien Dat Nguyen, 김예은, 강현창, 최혁렬, "A/D 변환시간 제어를 이용한 전자기장 듀얼타입 근접센서 개발", 제 16회 한국로봇종합학술대회, 2021.05.19~ 05.22
  2.  
  3. • S. J. Moon, J. S. Kim, H. S. Yim, Y. E. Kim, and H. R. Choi, "Real-Time Obstacle Avoidance Using Dual-Type Proximity Sensor for Safe Human-Robot Interaction", IEEE Robotics and Automation Letters, vol.6, Issue: 4, pp.8021-8028, 2021
  4.  
  5. • T. D. Nguyen, T. S. Kim, J. H. Noh, H. Phung, G.T. Kang, and H. R. Choi(2021), "Skin-Type Proximity Sensor by Using the Change of Electromagnetic Field", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 68, NO. 3, MARCH 2021
  6.  
  7. • 김예은, 노지호, 김진솔, 임홍식, 최혁렬, "Evaluation of tactile-proximity sensor performance", 제 15회 한국로봇종합학술대회, 2020.08.17~ 08.19
  8.  
  9. • 김진솔, 노지호, 김예은, 임홍식, 송용헌, 최혁렬, "로봇 어플리케이션을 위한 통합형 근접 센서 모듈", 15회 한국로봇종합학술대회, 2020.08.17~ 08.19
  10.  
  11. • T. S. Kim, J. H. Noh, T. D. Nguyen, H. R. Choi, "Development of Flexible Dual-type Proximity Sensor with Resonant Frequency for Robotic Applications", 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 4-8, 2019
  12.  
  13. • T. D. Nguyen, J. H. Noh, Y. E. Kim, J. S. Kim, Q. H. Nguyen, H. R. Choi, "Soft skin-type inductive proximity sensor for collaborative robots", 2019 16th International Conference on Ubiquitous Robots (UR) Jeju, Korea, June 24-27, 2019
  14.  
  15. • 김태승, 노지호, Tien Dat Nguyen, 최혁렬, "전자기장 변화를 이용한 로봇용 피부형 듀얼 근접센서 개발", 제 14회 한국로봇종합학술대회, 2019.01.20~01.23
  16.  
  17. • 노지호, 김태승, Tien Dat Nguyen, 신현영, 최혁렬, "피부형 근접 센서의 곡률과 접근 각도에 따른 성능 분석", 제 14회 한국로봇종합학술대회, 2019.01.20~01.23
  18.  
  19. • T. D. Nguyen, T. S. Kim, H. S. Han, H. Y. Shin, C. T. Nguyen, H. Phung, H. R. Choi, (2018), "Characterization and Optimization of Flexible Dual Mode Sensor Based on Carbon Micro Coils", vol.5, no.1
  •  
  1. • H. S. Han, J. Park, T. D. Nguyen and H. R. Choi, “A flexible dual mode tactile and proximity sensor using carbon microcoils,” Electroactive polymer actuators and devices (EAPAD) 2016, Proceedings of SPIE Vol. 9798, 979838-7, 2016
  2.  
  3. • H. S. Han, J. Park, T. D. Nguyen and H. R. Choi, “Carbon Microcoils를 이용한 듀얼 모드 촉각 근접 센서”, 제11회 한국로봇종합학술대회 2016
  4.  
  5. • H. S. Han, J. Park, T. D. Nguyen, U. Kim, C. T. Nguyen, H. Phung, H. R. Choi, “A highly sensitive dual mode tactile and proximity sensor using Carbon Microcoils for robotic applications“, Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016(5), pp 97~pp102, 2016
  6.  
  7. • J. Park, T. D. Nguyen; U. Kim; D. H. Lee; C. T. Nguyen; H. Phung; J. D. Nam; J. C. Koo; H. Moon; J. C. Koo; H. R. Choi., “design and Fabrication of Stretchable Proximity-Tactile Sensor Using Carbon Micro Coils”, Electroacitive polymer actuators and devices (EAPAD) 2015, Proceedings of SPIE Vol. 9430, 2015
  8.  
  9. • 박준우, 이동혁, Tien Dat Nguyen, Hoa Phung, 이충한, 김의겸, 구자춘, 문형필, 최혁렬, “힘 및 접촉 센싱에 관한 연구”, 제9회 한국로봇종합학술대회, 2014
  10.  
  11. • Tien Dat Nguyen, J. Park; C. H. Lee; C. T. Nguyen; D. H. Lee; U. Kim; H. Phung; J. D. Nam; J. C. Koo; H. Moon; H. R. Choi, “Highly sensitive proximity and tactile sensor based on composite with dielectric elastomer and Carbon Microcoils”, Electroacitive polymer actuators and devices (EAPAD) 2014
  12.  
  13. • Tien Dat Nguyen, C. T. Nguyen; D. H. Lee; U. Kim; C. H. Lee; J. D. Nam; H. R. Choi, “Highly stretchable dielectric elastomer material based on acrylonitrile butadiene rubber”, Macromolecular research, 22(11), pp1170~pp1177, 2014
  14.  

Project


 

  • • 산업통상자원부 
    인간과의 충돌방지를 위해 20cm 거리에서 인체감지 가능한 피부형 근접센싱 기술 개발(2018.04.01-2020.12.31) 

 


Researcher


Nguyen Tien Dat, Hong Sik Yim, Hyun Chang Kang