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A novelty solution for controls of assistive technology represent the usage of eye tracking devices such as for smart wheelchairs and robotic arms [10, 4]. In this context usage supporting methods like artificial feedback are not well explored. Vibrotactile feedback has shown to be helpful to decrease the cognitive load on the visual and auditive channels and can provide a perception of touch [17]. People with severe limitations of motor functions could benefit from eye tracking controls supported with vibrotactile feedback. In this study fundamental results will be presented in the design of an appropriate vibrotactile feedback system for eye tracking applications. We will show that a perceivable vibrotactile stimulus has no significant effect on the accuracy and precision of a head worn eye tracking device. It is anticipated that the results of this paper will lead to new insights in the design of vibrotactile feedback for eye tracking applications and eye tracking controls.
3D printing offers customisation capabilities regarding suspensions for oscillators of vibration energy harvesters. Adjusting printing parameters or geometry allows to influence dynamic properties like resonance frequency or bandwidth of the oscillator. This paper presents simulation results and measurements for a spiral shaped suspension printed with polylactic acid (PLA) and different layer heights. Eigenfrequencies have been simulated and measured and damping ratios have been experimentally determined.
The development of a 3D printed force sensor for a gripper was studied applying an embedded constantan wire as sensing element. In the first section, the state of the art is explained. In the main section of the paper the modeling, simulation and verification of a sensor element are described for a three-point bending test made in accordance with the DIN EN ISO 178. The 3D printing process of the Fused Filament Fabrication (FFF) utilized for manufacturing the sensor samples in combination with an industrial robot are shown. A comparison between theory and practice are considered in detail. Finally, an outlook is given regarding the integration of the sensor element in gripper jaws.
This paper presents the development of a capacitive level sensor for robotics applications, which is designed for measurements of liquid levels during a pouring process. The proposed sensor design applies the advantages of guard electrodes in combination with passive shielding to increase resistance against external influences. This is important for reliable operations in rapidly changing measurement environments, as they occur in the field of robotics. The non-contact type sensor for liquid level measurement is the solution for avoiding contaminations and suit food guidelines. The designed sensor can be utilized in gastronomic applications. Two versions of the sensor were simulated, fabricated, and compared. The first version is based on copper electrodes, and the other type is fully 3D printed with electrodes made of conductive polylactic acid (PLA).
Separation Estimation with Thermal Cameras for Separation Monitoring in Human-Robot Collaboration
(2022)
Human-Robot Collaborative applications have the drawback of being less efficient than their non-collaborative counterparts. One of the main reasons is, that the robot has to slow down when a human being is within the operating space of the robot. There are different approaches on dynamic speed and separation monitoring in human-robot collaborative applications. One approach additionally differentiates between human and non-human objects to increase efficiency in speed and separation monitoring. This paper proposes to estimate the separation distance by measuring the temperature of the approaching object. Measurements show that the measured temperature of a human being decreases with 1 deg C per meter distance from the sensor. This allows an estimation of separation between a robotic system and a human being.
Differentiation between human and non-human objects can increase efficiency of human-robot collaborative applications. This paper proposes to use convolutional neural networks for classifying objects in robotic applications. The body temperature of human beings is used to classify humans and to estimate the distance to the sensor. Using image classification with convolutional neural networks it is possible to detect humans in the surroundings of a robot up to five meters distance with low-cost and low-weight thermal cameras. Using transfer learning technique we trained the GoogLeNet and MobilenetV2. Results show accuracies of 99.48 % and 99.06 % respectively.
The following paper presents the results of a feasibility study about Bluetooth Low Energy (BLE) based wireless sensors. The development of industrial wireless sensors leads to important demands for the wireless technologies like a low energy consumption and a resource saving simple protocol stack. Bluetooth Low Energy (BLE) is a rather new wireless standard which will completely fulfill these fundamental requirements. A self-designed BLE sensor system has been used to explore the common applicability of BLE for wireless sensor systems. The evaluation results of various analyses with the BLE sensor system are now presented in this paper.
During the last ten years the development of wireless sensing applications has become more and more attractive. A major reason for this trend is the large quantity of available wireless technologies. The progressing demand on wireless technologies is mainly driven through development from the industrial wireless sensors market. Especially requirements like low energy consumption, a resource saving simple protocol stack and short timing delays between different states of the wireless transceivers are very important for wireless sensors. Bluetooth Low Energy (BLE) is a rather new wireless standard in addition to the traditional Bluetooth standard (Basis rate and enhanced data rate, BR/EDR) [1]. The BLE will completely fulfill these fundamental requirements. First BLE transceiver chips and modules are available and have been tested and implemented in products. In this paper the performance analysis results of a BLE sensor system which is based on the TI transceiver CC2540F [5] will be presented. The results can be taken for further important investigations like lifetime calculations or BLE simulation models.
Printed circuit boards (PCB) are a foundation of electronical devices in modern society. The fabrication of these boards requires various processes and machines. The utilisation of a robot with multiple tools can shorten the process chain compared to screen printing. In this paper a system is presented, which utilises an industrial six axis robot to manufacture
PCBs. The process flow and conversion process of the Gerber format into robot specific commands is presented. The advantages and challenges applying a robot to print circuits are discussed.