Development of retrofittable collision avoiding sensor for industrial robots

Document Type : Research Paper


1 Department of Robotics & Automation Engineering, PSG College of Technology, Coimbatore, 641004, India

2 Centre of Excellence in Welding Engineering and Technology, PSG College of Technology, Coimbatore, 641004, India


Many robots were installed in the manufacturing industry in the last decade. This shows the importance and value of the robot system in production. But many robots are not collaborative with humans. Collision detection is a fundamental issue for the safety of a robotic cell. All existing collision detection sensors are worked by opposing force (contact between robot and human) and it is injurious to humans due to the high collision force response of the robot at maximum speed. This research work demonstrates the use of the capacitive sensor for collision detection and the experiment shows the collision avoiding by non – contact manner. The sensors are mounted on the links of the robot. If the robot comes closer to humans, the capacitive sensor will detect the human presence and send the signal to the robot controller before the robot touches the human. The controller will turn off or hold the robot in position immediately based on the sensor signal. So this technique will ensure human safety more and more when compared to the current robot system. This sensor can be installed on a new robot and retrofitted to the old robot.


[1] G. Berselli and G. Vassura, Differentiated layer design to modify the compliance of soft pads for robotic limbs,
IEEE Int. Conf. Robot. Autom. (2009) 1285–1290.
[2] S. Haddadin, A. Albu-Schaffer, M. Strohmayr, M. Frommberger and G. Hirzinger, Injury evaluation of humanrobot impacts, 2008 IEEE Int. Conf. Robot. Autom. (2008) 2203–2204.
[3] S. Jeong and T. Takahashi, Impact force reduction of manipulators using a dynamic acceleration polytope and
flexible collision detection sensor, Adv. Robot. 23(3) (2009) 367–383.
[4] B. Mayton, L. LeGrand and J.R. Smith, An electric field pretouch system for grasping and co-manipulation, Int.
Conf. Robot. Autom. (2010) 831–838.
[5] Y. Ohmura, Y. Kuniyoshi and A. Nagakubo, Conformable and scalable tactile sensor skin for curved surfaces,
Proc. 2006 IEEE Int. Conf. Robot. Autom. IEEE 2006 (2006) 1348–1353.
[6] P.P. Inc., Pressure Profile RoboTouch Website, http://www.pressureprofile.comlproducts-robotouch.
[7] D. Shin, I. Sardellitti and O. Khatib, A hybrid actuation approach for human-friendly robot design, 2008 IEEE
Int. Conf. Robot. Autom. IEEE (2008) 1747–1752.[8] J. Ulmen and M. Cutkosky, A robust, low-cost and low- noise artificial skin for human-friendly robots, in 2010
IEEE International Conferenceon Robotics and Automation, (2010) 4836–4841.
[9] Y. Yamada, M. Morizono, U. Umetani and T. Takahashi, Highlysoft viscoelastic robot skin with a contact objectlocation-sensing capability, IEEE Trans. Indust. Elect. 52(4) (2005) 960–968.
[10] M. Zinn, O. Khatib and B. Roth, A new actuation approach for human friendly robot design, IEEE Int. Conf.
Robot. Autom. IEEE (2004) 249–254.
Volume 12, Special Issue
December 2021
Pages 1605-1609
  • Receive Date: 11 August 2021
  • Revise Date: 23 October 2021
  • Accept Date: 09 November 2021