Robot sensing based on electrical capacitance tomography sensor with rotation

Author:

Liu XiaofeiORCID,Yang WuqiangORCID

Abstract

Abstract The existing sensing technology for industrial robot hands cannot sense inside of an object. To recognise the material and internal distribution of an object when it is grasped, electrical capacitance tomography (ECT) may be used if the object is non-conductive, as ECT can measure the permittivity distribution inside an object from external capacitance measurements. An ECT sensor normally has 8 or 12 electrodes equally distributed around an object. This paper introduces the first attempt to make use of ECT with robot hands. Because the number of electrodes is limited, it is necessary to rotate the object to be imaged mechanically, so that sufficient measurements can be taken. Four aspects of the ECT sensor are discussed based on simulation: (1) the structure of electrodes; (2) the number of rotation times; (3) the starting position of rotation; and (4) the diameter of rotation. Two image reconstruction algorithms are used: the linear-back projection and Landweber iteration with three typical distributions. The results show that the rotational three-electrode ECT structure has good ability to produce useful images, showing the internal distribution of unknown objects.

Publisher

IOP Publishing

Subject

Applied Mathematics,Instrumentation,Engineering (miscellaneous)

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Frontend and backend electronics achieving flexibility and scalability for tomographic tactile sensing;Intelligent Service Robotics;2024-01

2. Measurement of Liquid-level in Horizontal Pipe using 4-electrode ECT sensor on robot hand;2023 IEEE International Conference on Imaging Systems and Techniques (IST);2023-10-17

3. Novel micro-structure design of dielectric layer for capacitive tactile sensor;2023 IEEE International Conference on Imaging Systems and Techniques (IST);2023-10-17

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