Scholarlink

<p>The increasing demand for safe human-robot coexistence necessitates reliable detection of individuals within a&#xa0;robot’s operational environment to ensure human safety. Capacitive sensors, incorporating System-on-Chip integrated sensing electronics, can be deployed on flexible and stretchable skins. When attached to a&#xa0;robotic arm, these sensors enable the realization of a&#xa0;highly efficient sensing network capable of detecting the presence of objects and determining the proximity of individuals, thereby facilitating close human-robot collaboration. Object proximity detection is achieved by monitoring impedance variations through a&#xa0;harmonic excitation current measurement for amplitude and phase known as Electrical Capacitance Tomography (ECT). To efficiently drive an array of large capacitive electrodes, a&#xa0;sinusoidal excitation driver circuit is required, ensuring high power efficiency across a&#xa0;broad frequency spectrum ranging from 10 kHz to 10 MHz. Spread spectrum approaches can be used to ensure robustness to external disturbers and enabling coexistence of multiple sensors in close vicinity. To enhance system performance, this paper proposes a&#xa0;fully integrated on-chip class‑D driver, coupled with a&#xa0;high-gain, low-noise current measurement circuit featuring a&#xa0;low-power and low-noise CMOS analog front end. The proposed circuit topology is designed, simulated, and validated using a&#xa0;65 nm CMOS technology.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Integrated circuit for capacitive sensing in collaborative robotics

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年10月6日

查看全文
  • Johannes Sturm,
  • Mehdi Moradian,
  • Wolfgang Scherr,
  • Ali Roshanghias,
  • Hubert Zangl

摘要

The increasing demand for safe human-robot coexistence necessitates reliable detection of individuals within a robot’s operational environment to ensure human safety. Capacitive sensors, incorporating System-on-Chip integrated sensing electronics, can be deployed on flexible and stretchable skins. When attached to a robotic arm, these sensors enable the realization of a highly efficient sensing network capable of detecting the presence of objects and determining the proximity of individuals, thereby facilitating close human-robot collaboration. Object proximity detection is achieved by monitoring impedance variations through a harmonic excitation current measurement for amplitude and phase known as Electrical Capacitance Tomography (ECT). To efficiently drive an array of large capacitive electrodes, a sinusoidal excitation driver circuit is required, ensuring high power efficiency across a broad frequency spectrum ranging from 10 kHz to 10 MHz. Spread spectrum approaches can be used to ensure robustness to external disturbers and enabling coexistence of multiple sensors in close vicinity. To enhance system performance, this paper proposes a fully integrated on-chip class‑D driver, coupled with a high-gain, low-noise current measurement circuit featuring a low-power and low-noise CMOS analog front end. The proposed circuit topology is designed, simulated, and validated using a 65 nm CMOS technology.