From CySkin to ProxySKIN: Design, Implementation and Testing of a Multi-Modal Robotic Skin for Human-Robot Interaction.

The Industry 5.0 paradigm has a human-centered vision of the industrial scenario and foresees a close collaboration between humans and robots. Industrial manufacturing environments must be easily adaptable to different task requirements, possibly taking into account the ergonomics and production line flexibility. Therefore, external sensing infrastructures such as cameras and motion capture systems may not be sufficient or suitable as they limit the shop floor reconfigurability and increase setup costs. In this paper, we present the technological advancements leading to the realization of ProxySKIN, a skin-like sensory system based on networks of distributed proximity sensors and tactile sensors. This technology is designed to cover large areas of the robot body and to provide a comprehensive perception of the surrounding space. ProxySKIN architecture is built on top of CySkin, a flexible artificial skin conceived to provide robots with the sense of touch, and arrays of Time-of-Flight (ToF) sensors. We provide a characterization of the arrays of proximity sensors and we motivate the design choices that lead to ProxySKIN, analyzing the effects of light interference on a ToF, due to the activity of other sensing devices. The obtained results show that a large number of proximity sensors can be embedded in our distributed sensing architecture and incorporated onto the body of a robotic platform, opening new scenarios for complex applications.

Architecture and design of a robotic mastication simulator for interactive load testing of dental implants and the mandible.

STATEMENT OF PROBLEM: Determination of interactive loading between a dental prosthesis and the host mandible is essential for implant prosthodontics and to preserve bone. PURPOSE: The purpose of this study was to develop and evaluate a robotic mastication simulator to replicate the human mastication force cycle to record the required interactive loading using specifically designed force sensors. MATERIAL AND METHODS: This robotic mastication simulator incorporated a Stewart parallel kinematic mechanism (PKM) controlled in the force-control loop. The hydraulically operated PKM executed the wrench operation, which consisted of the combined effect of forces and moments exhibited by the mastication process. Principal design features of this robotic simulator included PKM kinematic modeling, static force analysis to realize the masticatory wrench characteristics, and the architecture of its hydraulic system. Additionally, the design of a load-sensing element for the mandible and implant interaction was also incorporated. This element facilitated the quantification of the load distribution between implants and the host bone during the masticatory operation produced by the PKM. These loading tests were patient-specific and required separate artificial mandibular models for each patient. RESULTS: The simulation results demonstrated that the robotic PKM could replicate human mastication. These results validated the hydraulic system modeling for the required range of masticatory movements and effective forces of the PKM end-effector. The overall structural design of the robotic mastication simulator presented the integration of the PKM and its hydraulic system with the premeditated load-recording mechanism. CONCLUSIONS: The developed system facilitated the teeth-replacement procedure. The PKM accomplished the execution of mastication cycle involving 6 degrees of freedom, enabling any translation and rotation in sagittal, horizontal, and vertical planes. The mechanism can simulate the human mastication cycle and has a force application range of up to 2000 N. The designed load-sensing element can record interactive forces within the range of 200 N to 2000 N with fast response and high sensitivity to produce a robotic mastication simulator with custom-made modules.