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From CySkin to ProxySKIN: Design, Implementation and Testing of a Multi-Modal Robotic Skin for Human-Robot

Francesco Giovinazzo1, Francesco Grella1, Marco Sartore2

  • 1Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), Università di Genova, Via all'Opera Pia 13, 16145 Genova, Italy.

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Summary

ProxySKIN is a novel sensory system for Industry 5.0 robots, integrating proximity and tactile sensors. This artificial skin enhances human-robot collaboration by providing robots with comprehensive environmental perception.

Keywords:
proximity sensorsrobotic skinsensor arrays and networkstactile sensors

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Human-Robot Interaction

Background:

  • Industry 5.0 emphasizes human-robot collaboration and adaptable manufacturing.
  • External sensing systems (cameras, motion capture) have limitations in flexibility and cost.
  • Robots require advanced sensory capabilities for safe and efficient interaction.

Purpose of the Study:

  • To introduce ProxySKIN, a skin-like sensory system for robots.
  • To enable comprehensive environmental perception through distributed sensors.
  • To overcome limitations of external sensing in reconfigurable industrial environments.

Main Methods:

  • Developed ProxySKIN by integrating CySkin (artificial skin) with Time-of-Flight (ToF) proximity sensors.
  • Designed a distributed sensing architecture to cover large robot body areas.
  • Characterized proximity sensor arrays and analyzed light interference effects on ToF sensors.

Main Results:

  • Demonstrated the feasibility of embedding a large number of proximity sensors in a distributed architecture.
  • Validated ProxySKIN's capability to provide comprehensive spatial perception.
  • Addressed challenges like light interference in multi-sensor environments.

Conclusions:

  • ProxySKIN offers a viable solution for enhancing robot perception in Industry 5.0.
  • The system supports adaptable manufacturing and close human-robot collaboration.
  • This technology opens new possibilities for complex robotic applications.