Analysis of electrical resistance tomography measurements for fast force localization-Reference-Cited by-同舟云学术

Analysis of electrical resistance tomography measurements for fast force localization

Published:2024-04-15 Issue:6 Volume:91 Page:331-344
ISSN:0171-8096
Container-title:tm - Technisches Messen
language:en
Short-container-title:

Author:

Affortunati Sabrina¹^ORCID,Zagar Bernhard G.²^ORCID

Affiliation:

1. Johannes Kepler University Linz, Institute of Measurement Technology , Altenberger Straße 69, 4040 Linz , Austria

2. Montanuniversitaet Leoben, Chair of Electrical Engineering , Franz-Josef-Straße 18, 8700 Leoben , Austria

Abstract

Abstract Safe human-robot collaboration requires the robot to monitor the location and intensity of a potential contact force. This is necessary to avoid a possible risk of injury to humans. The goal of this work is to develop a distributed sensor system that enables spatially resolved force measurement. By covering the entire robot’s surface with an elastic coating with a sufficiently pressure-dependent conductivity, electrical resistance tomography can be used for this purpose. The measurement of the transimpedance makes it possible to localize a force applied between the electrodes and thus increase the spatial resolution of the measuring system. By analyzing the obtained measurements, a fast method, compared to classical electrical resistance tomography, for force localization is proposed. This method is compared to the classical method of electrical resistance tomography. A reduction in the processing time to less than one tenth has been attained with the presented method for the case of force localization only.

Funder

Linz Center of Mechatronics

Publisher

Walter de Gruyter GmbH

Link

https://www.degruyter.com/document/doi/10.1515/teme-2024-0010/pdf

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