IEEE J Biomed Health Inform. 2021 Dec;25(12):4276-4288. doi: 10.1109/JBHI.2021.3082563. Epub 2021 Dec 6.
With the fourth revolution of healthcare, i.e., Healthcare 4.0, collaborative robotics is spilling out from traditional manufacturing and will blend into human living or working environments to deliver care services, especially telehealthcare. Because of the frequent and seamless interaction between robots and care recipients, it poses several challenges that require careful consideration: 1) the ability of the human to collaborate with the robots in a natural manner; and 2) the safety of the human collaborating with the robot. In this regard, we have proposed a proximity sensing solution based on the self-capacitive technology to provide an extended sense of touch for collaborative robots, allowing approach and contact measurement to enhance safe and natural human-robot collaboration. The modular design of our solution enables it to scale up to form a large-area sensing system. The sensing solution is proposed to work in two operation modes: the interaction mode and the safety mode. In the interaction mode, utilizing the ability of the sensor to localize the point of action, gesture command is used for robot manipulation. In the safety mode, the sensor enables the robot to actively avoid obstacles.
随着医疗保健的第四次革命，即医疗保健 4.0，协作机器人正在从传统制造业中涌现，并将融入人类的生活或工作环境中，提供护理服务，特别是远程医疗保健服务。由于机器人和护理接受者之间频繁而无缝的交互，它带来了几个需要仔细考虑的挑战：1）人类以自然的方式与机器人协作的能力；2）人类与机器人协作的安全性。在这方面，我们提出了一种基于自电容技术的接近感应解决方案，为协作机器人提供扩展的触觉，允许进行接近和接触测量，以增强安全和自然的人机协作。我们的解决方案的模块化设计使其能够扩展形成一个大面积的感应系统。该感应解决方案被提议在两种操作模式下工作：交互模式和安全模式。在交互模式下，利用传感器定位动作点的能力，使用手势命令来操作机器人。在安全模式下，传感器使机器人能够主动避开障碍物。
