Next Article in Journal
Design and Analysis of a High-Gain and Robust Multi-DOF Electro-thermally Actuated MEMS Gyroscope
Next Article in Special Issue
Manufacturing of All Inkjet-Printed Organic Photovoltaic Cell Arrays and Evaluating Their Suitability for Flexible Electronics
Previous Article in Journal
Investigations of the Effects of Geometric Imperfections on the Nonlinear Static and Dynamic Behavior of Capacitive Micomachined Ultrasonic Transducers
Previous Article in Special Issue
Bending Limit Tests for Ultra-Thin Liquid Crystal Polymer Substrate Based on Flexible Microwave Components
Article

Development of Flexible Robot Skin for Safe and Natural Human–Robot Collaboration

1
State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
2
Department of Mechanical and Process Engineering, Swiss Federal Institute of Technology Zurich, 8092 Zurich, Switzerland
3
ABB Corporate Research Sweden, 72178 Vasteras, Sweden
*
Author to whom correspondence should be addressed.
Micromachines 2018, 9(11), 576; https://doi.org/10.3390/mi9110576
Received: 9 October 2018 / Revised: 31 October 2018 / Accepted: 3 November 2018 / Published: 5 November 2018
(This article belongs to the Special Issue Printed Flexible and Stretchable Electronics)
For industrial manufacturing, industrial robots are required to work together with human counterparts on certain special occasions, where human workers share their skills with robots. Intuitive human–robot interaction brings increasing safety challenges, which can be properly addressed by using sensor-based active control technology. In this article, we designed and fabricated a three-dimensional flexible robot skin made by the piezoresistive nanocomposite based on the need for enhancement of the security performance of the collaborative robot. The robot skin endowed the YuMi robot with a tactile perception like human skin. The developed sensing unit in the robot skin showed the one-to-one correspondence between force input and resistance output (percentage change in impedance) in the range of 0–6.5 N. Furthermore, the calibration result indicated that the developed sensing unit is capable of offering a maximum force sensitivity (percentage change in impedance per Newton force) of 18.83% N−1 when loaded with an external force of 6.5 N. The fabricated sensing unit showed good reproducibility after loading with cyclic force (0–5.5 N) under a frequency of 0.65 Hz for 3500 cycles. In addition, to suppress the bypass crosstalk in robot skin, we designed a readout circuit for sampling tactile data. Moreover, experiments were conducted to estimate the contact/collision force between the object and the robot in a real-time manner. The experiment results showed that the implemented robot skin can provide an efficient approach for natural and secure human–robot interaction. View Full-Text
Keywords: flexible robot skin; human–robot collaboration; inkjet printing; heterogeneous system flexible robot skin; human–robot collaboration; inkjet printing; heterogeneous system
Show Figures

Figure 1

MDPI and ACS Style

Pang, G.; Deng, J.; Wang, F.; Zhang, J.; Pang, Z.; Yang, G. Development of Flexible Robot Skin for Safe and Natural Human–Robot Collaboration. Micromachines 2018, 9, 576. https://doi.org/10.3390/mi9110576

AMA Style

Pang G, Deng J, Wang F, Zhang J, Pang Z, Yang G. Development of Flexible Robot Skin for Safe and Natural Human–Robot Collaboration. Micromachines. 2018; 9(11):576. https://doi.org/10.3390/mi9110576

Chicago/Turabian Style

Pang, Gaoyang, Jia Deng, Fangjinhua Wang, Junhui Zhang, Zhibo Pang, and Geng Yang. 2018. "Development of Flexible Robot Skin for Safe and Natural Human–Robot Collaboration" Micromachines 9, no. 11: 576. https://doi.org/10.3390/mi9110576

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop