Proximity Perception in Human-centered Robotics: A Survey on Sensing Systems and Applications
Open accessAbstract
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey article, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. In this domain, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on the inside of grippers or hands to support grasping and exploration. Therefore, based on this observation, in the beginning of this article, we propose a categorization to organize the use cases of proximity sensors in human-centered robotics. Then, we devote effort to present the sensing technologies and different measuring principles that have been developed over the years, also providing a summary in form of a table. Following, we review the literature regarding the applications that have been proposed. Finally, we give an overview of the most important trends that will shape the future of this domain.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Low level fast reactive control has been explored for integration with robot manipulators in proximity perception and visual servoing.
“Low level fast reactive control has been explored for integration with robot manipulators in proximity perception (Mayton et al., 20102010; Navarro et al., 2021) as well as visual servoing (Espiau et al., 1992).”
From Lessons for Robotics From the Control Architecture of the Octopus (2022) · cites this paper as Navarro et al., 2021
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
Part of this paper’s reference list could not be split into single entries.
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894 · see citing works
Hall, E. T. (1973) · Leonardo · doi:10.2307/1572461 · Cited by 4,874 · see citing works
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · Springer eBooks · doi:10.1007/978-1-4613-8997-2_29 · Cited by 1,576 · see citing works
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
Maciejewski, A. A., & Klein, C. A. (1985) · The International Journal of Robotics Research · doi:10.1177/027836498500400308 · Cited by 1,008 · see citing works
Soli: ubiquitous gesture sensing with millimeter wave radar
Lien, J., Gillian, N., Karagozler, M. E., Amihood, P., Schwesig, C., Olson, E., Raja, H., & Poupyrev, I. (2016) · ACM Transactions on Graphics · doi:10.1145/2897824.2925953 · Cited by 957 · see citing works
Data-Driven Grasp Synthesis—A Survey
Bohg, J., Morales, A., Asfour, T., & Kragic, D. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2289018 · Cited by 929 · see citing works
1Data-Driven Grasp Synthesis- A SurveyPreprint
Bohg, J., Morales, A., Asfour, T., & Kragić, D. (2014) · Cited by 532 · see citing works
Multi-Sensor Fusion in Automated Driving: A Survey
Wang, Z., Wu, Y., & Niu, Q. (2020) · IEEE Access · doi:10.1109/access.2019.2962554 · Cited by 526 · see citing works
Humanoid Multimodal Tactile-Sensing Modules
Mittendorfer, P., & Cheng, G. (2011) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2106330 · Cited by 308 · see citing works
Shape completion enabled robotic grasping
Varley, J., DeChant, C., Richardson, A., Ruales, J., & Allen, P. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206060 · Cited by 306 · see citing works
Interactive Perception: Leveraging Action in Perception and Perception in Action
Bohg, J., Hausman, K., Sankaran, B., Brock, O., Kragić, D., Schaal, S., & Sukhatme, G. (2017) · MPG.PuRe (Max Planck Society) · Cited by 242 · see citing works
Interactive perception: Leveraging action in perception and perception in action
Bohg, J., Hausman, K., Sankaran, B., Brock, O., Kragic, D., Schaal, S., & Sukhatme, G. S. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2017.2721939 · Cited by 227 · see citing works
Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators
Lumelsky, V., & Cheung, E. B. (1993) · IEEE Transactions on Systems Man and Cybernetics · doi:10.1109/21.214777 · Cited by 218 · see citing works
Große-Puppendahl, T., Holz, C., Cohn, G. A., Wimmer, R., Bechtold, O., Hodges, S. E., Reynolds, M. S., & Smith, J. R. (2017) · CHI Conference on Human Factors in Computing Systems · doi:10.1145/3025453.3025808 · Cited by 214 · see citing works
Self-citationLee, H.-K., Chang, S.-I., & Yoon, E. (2009) · IEEE Sensors Journal · doi:10.1109/jsen.2009.2030660 · Cited by 211 · see citing works
A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications
Cheng, G., Dean-Leon, E., Bergner, F., Rogelio Guadarrama Olvera, J., Leboutet, Q., & Mittendorfer, P. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2019.2933348 · Cited by 209 · see citing works
Baxter, L. K. (1996) · Institute of Electrical and Electronics Engineers eBooks · doi:10.1109/9780470544228 · Cited by 202 · see citing works
Reactive grasping using optical proximity sensors
Hsiao, K., Nangeroni, P., Huber, M., et al. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152849 · Cited by 164 · see citing works
MMW Radar-Based Technologies in Autonomous Driving: A Review
Zhou, T., Yang, M., Jiang, K., Wong, H., & Yang, D. (2020) · Sensors · doi:10.3390/s20247283 · Cited by 150 · see citing works
Dual functional transparent film for proximity and pressure sensing
Zhang, B., Xiang, Z., Zhu, S., Hu, Q., Cao, Y., Zhong, J., Zhong, Q., Wang, B., Fang, Y., Hu, B., et al. (2014) · Nano Research · doi:10.1007/s12274-014-0510-3 · Cited by 141 · see citing works
A Combined Inductive–Capacitive Proximity Sensor for Seat Occupancy Detection
George, B., Zangl, H., Bretterklieber, T., & Brasseur, G. (2010) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2010.2040910 · Cited by 111 · see citing works
Self-citationSafety Control of Industrial Robots Based on a Distributed Distance Sensor
Avanzini, G. B., Ceriani, N. M., Zanchettin, A. M., Rocco, P., & Bascetta, L. (2014) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2014.2300696 · Cited by 106 · see citing works
On-Line Trajectory Generation in Robotic Systems
Kröger, T. (2010) · Springer tracts in advanced robotics · doi:10.1007/978-3-642-05175-3 · Cited by 99 · see citing works
A capacitance-based proximity sensor for whole arm obstacle avoidance
Novak, J. L., & Feddema, I. T. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1992.220068 · Cited by 97 · see citing works
A Robotic Skin for Collision Avoidance and Affective Touch Recognition
Hughes, D., LAMMIE, J., & Correll, N. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2799743 · Cited by 94 · see citing works
Proximity Skin Sensor Using Time-of-Flight Sensor for Human Collaborative Robot
Tsuji, S., & Kohama, T. (2019) · IEEE Sensors Journal · doi:10.1109/jsen.2019.2905848 · Cited by 89 · see citing works
Biomimetic and bio-inspired robotics in electric fish research
Neveln, I. D., Bai, Y., Snyder, J. B., Solberg, J. R., Curet, O., Lynch, K., & MacIver, M. A. (2013) · Journal of Experimental Biology · doi:10.1242/jeb.082743 · Cited by 86 · see citing works
A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics
Navarro, S. E., Nagels, S., Alagi, H., et al. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.3008120 · Cited by 84 · see citing works
Self-citationVirtual whiskers — Highly responsive robot collision avoidance
Schlegl, T., Kröger, T., Gaschler, A., et al. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6697134 · Cited by 77 · see citing works
Millimeter Wave Sensing: A Review of Application Pipelines and Building Blocks
van Berlo, B., Elkelany, A., Özçelebi, T., & Meratnia, N. (2021) · IEEE Sensors Journal · doi:10.1109/jsen.2021.3057450 · Cited by 75 · see citing works
An Electric Field Pretouch system for grasping and co-manipulation
Mayton, B., LeGrand, L., & Smith, J. R. (2010) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2010.5509658 · Cited by 71 · see citing works
Self-citationTimecourse of Preshaping for Functional Responses to Objects
Pellegrino, J. W., Klatzky, R. L., & McCloskey, B. P. (1989) · Journal of Motor Behavior · doi:10.1080/00222895.1989.10735484 · Cited by 65 · see citing works
Kaboli, M., Feng, D., Yao, K., et al. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2720853 · Cited by 62 · see citing works
Nagels, S., Ramakers, R., Luyten, K., et al. (2018) · CHI Conference on Human Factors in Computing Systems · doi:10.1145/3173574.3173762 · Cited by 62 · see citing works
Seashell effect pretouch sensing for robotic grasping
Jiang, L.-T., & Smith, J. R. (2012) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2012.6224985 · Cited by 61 · see citing works
Self-citationImproving robot manipulation through fingertip perception
Maldonado, A., Alvarez, H., & Beetz, M. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6385560 · Cited by 60 · see citing works
Net-Structure Proximity Sensor: High-Speed and Free-Form Sensor With Analog Computing Circuit
HASEGAWA, H., Suzuki, Y., Ming, A., et al. (2015) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2417555 · Cited by 59 · see citing works
Model for a Sensor Inspired by Electric Fish
Boyer, F., Gossiaux, P.-B., Jawad, B., Lebastard, V., & Porez, M. (2011) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2175764 · Cited by 59 · see citing works
High-Speed High-Precision Proximity Sensor for Detection of Tilt, Distance, and Contact
Koyama, K., Shimojo, M., Senoo, T., et al. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2850975 · Cited by 57 · see citing works
Self-citationWhole arm obstacle avoidance for teleoperated robots
Feddema, J. T., & Novak, J. L. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1994.351062 · Cited by 55 · see citing works
Gerstmair, M., Melzer, A., Onic, A., et al. (2019) · IEEE Signal Processing Magazine · doi:10.1109/msp.2019.2902914 · Cited by 55 · see citing works
Skin-Type Proximity Sensor by Using the Change of Electromagnetic Field
Nguyen, T. D., Kim, T., Noh, J., et al. (2020) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2020.2975503 · Cited by 55 · see citing works
Goeger, D., Blankertz, M., & Woern, H. (2010) · Proceedings of IEEE Sensors/Proceedings of IEEE Sensors ... · doi:10.1109/icsens.2010.5690450 · Cited by 54 · see citing works
Electric Field Servoing for robotic manipulation
Wistort, R., & Smith, J. R. (2008) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2008.4650721 · Cited by 53 · see citing works
Self-citationFinding and identifying simple objects underwater with active electrosense
Bai, Y., Snyder, J. B., Peshkin, M. A., & MacIver, M. A. (2015) · The International Journal of Robotics Research · doi:10.1177/0278364915569813 · Cited by 52 · see citing works
Underwater Reflex Navigation in Confined Environment Based on Electric Sense
Boyer, F., Lebastard, V., Chevallereau, C., et al. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2255451 · Cited by 52 · see citing works
Tactile proximity sensors for robotic applications
Göger, D., Alagi, H., & Wörn, H. (2013) · IEEE International Conference on Industrial Technology (ICIT) · doi:10.1109/icit.2013.6505804 · Cited by 51 · see citing works
Self-citationA sensitive skin system for motion control of robot arm manipulators
Cheung, E. B., & Lumelsky, V. (1992) · Robotics and Autonomous Systems · doi:10.1016/0921-8890(92)90012-n · Cited by 50 · see citing works
Methods for safe human-robot-interaction using capacitive tactile proximity sensors
Navarro, S. E., Marufo, M., Ding, Y., et al. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6696495 · Cited by 49 · see citing works
Self-citationTracking Human Pose During Robot-Assisted Dressing Using Single-Axis Capacitive Proximity Sensing
Erickson, Z., Collier, M., Kapusta, A. S., & Kemp, C. C. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2812912 · Cited by 48 · see citing works
Tsuji, S., & Kohama, T. (2020) · IEEE Sensors Journal · doi:10.1109/jsen.2020.2969653 · Cited by 47 · see citing works
Kaboli, M., Feng, D., & Cheng, G. (2017) · International Journal of Humanoid Robotics · doi:10.1142/s0219843618500019 · Cited by 46 · see citing works
Environment-aware proximity detection with capacitive sensors for human-robot-interaction
Hoffmann, A., Poeppel, A., Schierl, A., et al. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759047 · Cited by 45 · see citing works
Development of sensitive skin for a 3D robot arm operating in an uncertain environment
Cheung, E. B., & Lumelsky, V. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1989.100121 · Cited by 44 · see citing works
Integrated proximity, contact and force sensing using elastomer-embedded commodity proximity sensors
Patel, R., Cox, R., & Correll, N. (2018) · Autonomous Robots · doi:10.1007/s10514-018-9751-4 · Cited by 44 · see citing works
Electric field imaging pretouch for robotic graspers
Smith, J. R., Garcia, E. K., Wistort, R., et al. (2007) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2007.4399609 · Cited by 43 · see citing works
Self-citationHighly sensitive flexible proximity tactile array sensor by using carbon micro coils
Nguyen, T. D., Han, H. S., Shin, H.-Y., Nguyen, C. T., Phung, H., Hoang, H. V., & Choi, H. R. (2017) · Sensors and Actuators A Physical · doi:10.1016/j.sna.2017.09.013 · Cited by 42 · see citing works
Capacitive sensor for object ranging and material type identification
Kirchner, N., Hordern, D., Liu, D., et al. (2008) · Sensors and Actuators A Physical · doi:10.1016/j.sna.2008.07.027 · Cited by 41 · see citing works
Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators
Ding, Y., & Thomas, U. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9196759 · Cited by 40 · see citing works
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Erickson, Z., Clever, H., Gangaram, V., Turk, G., Liu, C. K., & Kemp, C. C. (2019) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2019.8779542 · Cited by 39 · see citing works
Pre-touch sensing for sequential manipulation
Yang, B., Lancaster, P., & Smith, J. R. (2017) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2017.7989594 · Cited by 38 · see citing works
Self-citation160-GHz Radar Proximity Sensor With Distributed and Flexible Antennas for Collaborative Robots
Geiger, M., & Waldschmidt, C. (2019) · IEEE Access · doi:10.1109/access.2019.2891909 · Cited by 37 · see citing works
TacWhiskers: Biomimetic Optical Tactile Whiskered Robots
Lepora, N. F., Pearson, M. J., & Cramphorn, L. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593653 · Cited by 36 · see citing works
Combined Capacitive and Ultrasonic Distance Measurement for Automotive Applications
Schlegl, T., Bretterklieber, T., Neumayer, M., et al. (2011) · IEEE Sensors Journal · doi:10.1109/jsen.2011.2155056 · Cited by 35 · see citing works
Object Location and Recognition Using Whisker Sensors
Russell, R. A., & Wijaya, J. A. (2003) · Cited by 34 · see citing works
Koyama, K., HASEGAWA, H., Suzuki, Y., et al. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6696932 · Cited by 34 · see citing works
Self-citationA versatile and modular capacitive tactile proximity sensor
Alagi, H., Navarro, S. E., Mende, M., et al. (2016) · IEEE Haptics Symposium · doi:10.1109/haptics.2016.7463192 · Cited by 34 · see citing works
Self-citationWith Proximity Servoing towards Safe Human-Robot-Interaction
Ding, Y., Wilhelm, F., Faulhammer, L., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968438 · Cited by 34 · see citing works
Motion planning for robot arm manipulators with proximity sensing
Cheung, E. B., & Lumelsky, V. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1988.12147 · Cited by 32 · see citing works
2D and 3D millimeter-wave synthetic aperture radar imaging on a PR2 platform
Watts, C. M., Lancaster, P., Pedross-Engel, A., et al. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759633 · Cited by 32 · see citing works
A Sensitive Skin for Robotic Companions Featuring Temperature, Force, and Electric Field Sensors
Stiehl, W. D., & Breazeal, C. (2006) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2006.282324 · Cited by 31 · see citing works
Liquid Metal-Microelectronics Integration for a Sensorized Soft Robot Skin
Hellebrekers, T., Ozutemiz, K. B., Yin, J., & Majidi, C. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593944 · Cited by 31 · see citing works
Navarro, S. E., Schonert, M., Hein, B., et al. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6942533 · Cited by 30 · see citing works
Self-citationForce and proximity fingertip sensor to enhance grasping perception
Konstantinova, J., Stilli, A., & Althoefer, K. A. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353659 · Cited by 29 · see citing works
Integrated control of a multi-fingered hand and arm using proximity sensors on the fingertips
Koyama, K., Suzuki, Y., Ming, A., et al. (2016) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2016.7487625 · Cited by 28 · see citing works
Self-citationObstacle Avoidance using a Capacitive Skin for Safe Human-Robot Interaction
M'Colo, K.-E., Luong, B., Crosnier, A., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967605 · Cited by 28 · see citing works
Koyama, K., Shimojo, M., Ming, A., et al. (2019) · The International Journal of Robotics Research · doi:10.1177/0278364919875811 · Cited by 27 · see citing works
Self-citationUse of Optical Reflectance Sensors in Robotics Applications
(1980) · IEEE Transactions on Systems Man and Cybernetics · doi:10.1109/tsmc.1980.4308420 · Cited by 27 · see citing works
3D Underground Mapping with a Mobile Robot and a GPR Antenna
Kouros, G., Kotavelis, I., Skartados, E., et al. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593848 · Cited by 26 · see citing works
Flintoff, Z., Johnston, B., & Liarokapis, M. V. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594166 · Cited by 26 · see citing works
Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution
Alagi, H., Heiligl, A., Navarro, S. E., et al. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593789 · Cited by 26 · see citing works
Self-citationCapacitive Proximity Sensor Skin for Contactless Material Detection
Ding, Y., Zhang, H., & Thomas, U. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594376 · Cited by 26 · see citing works
High-Speed, Small-Deformation Catching of Soft Objects Based on Active Vision and Proximity Sensing
Koyama, K., Murakami, K., Senoo, T., et al. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2891091 · Cited by 25 · see citing works
Self-citationElectrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch
Zhao, Z., Yeo, M., Manoharan, S., Ryu, S. C., & Park, H. (2020) · Scientific Reports · doi:10.1038/s41598-019-56985-9 · Cited by 25 · see citing works
Gesture-based Contactless Control of Mobile Manipulators using Capacitive Sensing
Stetco, C., Mühlbacher-Karrer, S., Lucchi, M., Weyrer, M., Faller, L.-M., & Zangl, H. (2020) · IEEE International Instrumentation and Measurement Technology Conference · doi:10.1109/i2mtc43012.2020.9128751 · Cited by 25 · see citing works
Self-citationHan, H. S., Park, J., Nguyen, T. D., et al. (2016) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2016.7487121 · Cited by 24 · see citing works
Radar Sensors in Collaborative Robotics: Fast Simulation and Experimental Validation
Stetco, C., Ubezio, B., Mühlbacher-Karrer, S., et al. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197180 · Cited by 24 · see citing works
Planning considerations for a roving robot with arm
Lewis, R. A., & Bejczy, A. K. (1973) · International Joint Conference on Artificial Intelligence · Cited by 23 · see citing works
A fingertip sensor with proximity, tactile and force sensing capabilities
Dario, P., Sabatini, A. M., Allotta, B., et al. (2002) · doi:10.1109/iros.1990.262509 · Cited by 23 · see citing works
Audio-tactile proximity feedback for enhancing 3D manipulation
Marquardt, A., Kruijff, E., Trepkowski, C., Maiero, J., Schwandt, A., Hinkenjann, A., Stuerzlinger, W., & Schöning, J. (2018) · ACM Symposium on Virtual Reality Software and Technology (VRST) · doi:10.1145/3281505.3281525 · Cited by 23 · see citing works
A novel electrooptical proximity sensor for robotics: calibration and active sensing
Bonen, A., Saad, R. E., Smith, K. C., et al. (1997) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.585900 · Cited by 22 · see citing works
Application of the Task-function Approach to Sensor-based Control of Robot Manipulators
Samson, C., & Espiau, B. (1990) · IFAC Proceedings Volumes · doi:10.1016/s1474-6670(17)51746-2 · Cited by 22 · see citing works
Robotic Grasping Using Proximity Sensors for Detecting both Target Object and Support Surface
Sasaki, K., Koyama, K., Ming, A., et al. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594430 · Cited by 22 · see citing works
Self-citationClosing the Loop with Liquid-Metal Sensing Skin for Autonomous Soft Robot Gripping
Yin, J., Hellebrekers, T., & Majidi, C. (2020) · IEEE International Conference on Soft Robotics (RoboSoft) · doi:10.1109/robosoft48309.2020.9116000 · Cited by 22 · see citing works
Optimal placement of spots in distributed proximity sensors for safe human-robot interaction
Ceriani, N. M., Avanzini, G. B., Zanchettin, A. M., et al. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6631420 · Cited by 21 · see citing works
Faller, L.-M., Stetco, C., & Zangl, H. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968134 · Cited by 21 · see citing works
Self-citationA Soft Humanoid Hand with In-Finger Visual Perception
Hundhausen, F., Starke, J., & Asfour, T. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341080 · Cited by 21 · see citing works
Reactive Robotics I: Reactive Grasping with a Modified Gripper and Multifingered Hands
Teichmann, M., & Mishra, B. (2000) · The International Journal of Robotics Research · doi:10.1177/027836490001900706 · Cited by 20 · see citing works
An Optical Fiber Proximity Sensor for Haptic Exploration
Walker, S., Loewke, K. E., Fischer, M., et al. (2007) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2007.363831 · Cited by 20 · see citing works
Acoustic Flow-Based Control of a Mobile Platform Using a 3D Sonar Sensor
Steckel, J., & Peremans, H. (2017) · IEEE Sensors Journal · doi:10.1109/jsen.2017.2688476 · Cited by 20 · see citing works
3D contour following for a cylindrical end-effector using capacitive proximity sensors
Navarro, S. E., Koch, S., & Hein, B. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759038 · Cited by 19 · see citing works
Self-citationFingertip proximity sensor with realtime visual-based calibration
Konstantinova, J., Stilli, A., Faragasso, A., et al. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759051 · Cited by 19 · see citing works
High-Resolution Ultrasound Sensing for Robotics Using Dense Microphone Arrays
Verellen, T., Kerstens, R., & Steckel, J. (2020) · IEEE Access · doi:10.1109/access.2020.3032177 · Cited by 19 · see citing works
Optical proximity sensors for manipulators
Johnson, A. R. (1973) · NASA STI Repository (National Aeronautics and Space Administration) · Cited by 18 · see citing works
Dynamic object localization via a proximity sensor network
Petryk, G., & Buehler, M. (2002) · doi:10.1109/mfi.1996.572197 · Cited by 18 · see citing works
Transmissive optical pretouch sensing for robotic grasping
Guo, D., Lancaster, P., Jiang, L.-T., et al. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354214 · Cited by 18 · see citing works
Toward Fingertip Non-Contact Material Recognition and Near-Distance Ranging for Robotic Grasping
Fang, C., Wang, D., Song, D., & Zou, J. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793922 · Cited by 18 · see citing works
A unified framework for grasping and shape acquisition via pretouch sensing
Jiang, L.-T., & Smith, J. R. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630695 · Cited by 17 · see citing works
Self-citationResponsive fingers — capacitive sensing during object manipulation
Mühlbacher-Karrer, S., Gaschler, A., & Zangl, H. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354001 · Cited by 17 · see citing works
Self-citationBaeten, J., & Schutter, J. D. (1999) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.1999.803292 · Cited by 16 · see citing works
Gripper self-alignment for autonomous pole-grasping with a biped climbing robot
Xiao, Z., Wu, W., Wu, J., et al. (2012) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2012.6490963 · Cited by 16 · see citing works
Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry
Lancaster, P., Smith, J. R., & Srinivasa, S. S. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793959 · Cited by 16 · see citing works
Self-citationRobust Electromagnetic Pose Estimation for Robotic Applications
Gietler, H., Ammari, H. M., & Zangl, H. (2019) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2019.2945494 · Cited by 16 · see citing works
Self-citationDing, Y., & Thomas, U. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561025 · Cited by 16 · see citing works
“Capaciflector” collision avoidance sensors for robots
Vranish, J. M., McConnell, R. L., & Mahalingam, S. (1991) · Computers & Electrical Engineering · doi:10.1016/0045-7906(91)90033-v · Cited by 15 · see citing works
3D geometry reconstruction using Large Infrared Proximity Array for robotic applications
Tar, Á., Koller, M., & Cserey, G. (2009) · IEEE International Conference on Mechatronics (ICM) · doi:10.1109/icmech.2009.4957218 · Cited by 15 · see citing works
Koyama, K., Suzuki, Y., Ming, A., & Shimojo, M. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353419 · Cited by 15 · see citing works
Self-citationEffect of finger geometries on strain response of interdigitated capacitor based soft strain sensors
Shin, H., & Bergbreiter, S. (2018) · Applied Physics Letters · doi:10.1063/1.4998440 · Cited by 15 · see citing works
Visionless Tele-Exploration of 3D Moving Objects
Huang, K. J., Lancaster, P., Smith, J. R., et al. (2018) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2018.8665228 · Cited by 15 · see citing works
Self-citationReview of UAV positioning in indoor environments and new proposal based on US measurements
Rubio, M. C. P., Gómez, D. G., Ranera, J. D. V., et al. (2019) · Cited by 15 · see citing works
Optical Proximity Sensor Using Multiple Cones Of Light For Measuring Surface Shape
Fuhrman, M., & Kanade, T. (1984) · Optical Engineering · doi:10.1117/12.7973335 · Cited by 14 · see citing works
Model based object localization and shape estimation using electric sense on underwater robots
Bazeille, S., Lebastard, V., Lanneau, S., & Boyer, A. F. (2017) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2017.08.941 · Cited by 14 · see citing works
A proximity-tactile sensor to detect obstacles for a cylindrical arm.
Yamada, Y., Tsuchida, N., & Ueda, M. (1988) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.6.292 · Cited by 13 · see citing works
Contactless Control of a Kinematically Redundant Serial Manipulator Using Tomographic Sensors
Mühlbacher-Karrer, S., Brandstötter, M., Schett, D., & Zangl, H. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2632973 · Cited by 13 · see citing works
Self-citationImproved object pose estimation via deep pre-touch sensing
Lancaster, P., Yang, B., & Smith, J. R. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206061 · Cited by 13 · see citing works
Self-citationObject detection based on electrical capacitance tomography
Mühlbacher-Karrer, S., & Zangl, H. (2015) · IEEE Sensors Applications Symposium (SAS) · doi:10.1109/sas.2015.7133574 · Cited by 12 · see citing works
Self-citationTelemanipulation with force-based display of proximity fields
Navarro, S. E., Heger, F., Putze, F., et al. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354027 · Cited by 12 · see citing works
Self-citationWireless Electronic Skin with Integrated Pressure and Optical Proximity Sensing
Markvicka, E. J., Rogers, J. M., & Majidi, C. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340787 · Cited by 12 · see citing works
Sensor-based 3-D autonomous contour-following control
Nunes, U., Faia, P. M., & de Almeida, A. T. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1994.407394 · Cited by 9 · see citing works
Sensor-based whole-arm obstacle avoidance for kinematically redundant robots
Wegerif, D. G., & Rosinski, D. J. (1992) · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · doi:10.1117/12.131672 · Cited by 9 · see citing works
Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing
Palermo, F., Konstantinova, J., Althoefer, K. A., et al. (2020) · Frontiers in Robotics and AI · doi:10.3389/frobt.2020.513004 · Cited by 9 · see citing works
Robust Distance Estimation of Capacitive Proximity Sensors in HRI using Neural Networks
Poeppel, A., Hoffmann, A., Siehler, M., et al. (2020) · IEEE International Conference on Robotic Computing (IRC) · doi:10.1109/irc.2020.00061 · Cited by 9 · see citing works
Contact transition control by adjusting emitting energy of proximity sensor
Arita, H., & Suzuki, Y. (2020) · Advanced Robotics · doi:10.1080/01691864.2020.1848622 · Cited by 8 · see citing works
Novak, J. L., Feddema, J. T., Miner, N. E., et al. (1993) · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · doi:10.1117/12.164891 · Cited by 7 · see citing works
Robust Estimation of Pre-Contact Object Trajectories
Petryk, G., & Buehler, M. (1997) · IFAC Proceedings Volumes · doi:10.1016/s1474-6670(17)44353-9 · Cited by 6 · see citing works
Adaptive collision-limitation behavior for an assistive manipulator
Stoelen, M. F., Tejada, V. F., Victores, J. G., et al. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6696494 · Cited by 6 · see citing works
A Proximity-Tactile Sensor to Detect Obstacles for a Cylindrical Arm
Yamada, Y., Tsuchida, N., & Ueda, M. (1990) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.1990.p0172 · Cited by 5 · see citing works
Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array
Alagi, H., Navarro, S. E., Hergenhan, J., et al. (2020) · IEEE International Instrumentation and Measurement Technology Conference · doi:10.1109/i2mtc43012.2020.9128701 · Cited by 5 · see citing works
Self-citationWegerif, D., Rosinski, D. J., & Parton, W. J. (1993) · Space Programs and Technologies Conference · doi:10.2514/6.1993-4158 · Cited by 4 · see citing works
Electrical Capacitance Tomography with a variable topology
Mühlbacher-Karrer, S., & Zangl, H. (2015) · International Conference on Sensing Technology · doi:10.1109/icsenst.2015.7438462 · Cited by 4 · see citing works
Self-citationAdaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance
Stoelen, M. F., Tejada, V. F., Jardón, A., et al. (2016) · Paladyn Journal of Behavioral Robotics · doi:10.1515/pjbr-2016-0002 · Cited by 3 · see citing works
Smart sensor networks for robotic sensor skins
Tamasy, G. J. (1997) · Sensor Review · doi:10.1108/02602289710172364 · Cited by 2 · see citing works
Electric sensing for underwater navigation
Boyer, F., & Lebastard, V. (2018) · Oxford University Press eBooks · doi:10.1093/oso/9780199674923.003.0019 · Cited by 2 · see citing works
Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor
Navarro, S. E., Alagi, H., Heilig, A., et al. (2016) · Cited by 1 · see citing works
Self-citationReactive Robotics I: Reactive Grasping with a Modified Gripper and Multifingered Hands
Teichmann, M., & Mishra, B. (2000) · The International Journal of Robotics Research · doi:10.1177/02783640022067111 · Cited by 1 · see citing works
Flagged first, then by citations
Research works printed but not linked: 2
- [1][1] T. Zhou, M. Yang, K. Jiang, H. Wong, and D. Yang, 'MMW radarbased technologies in autonomous driving: A review,' Sensors , vol. 20, no. 24, p. 7283, 2020. -
- [26][26] A. Hoffmann, A. Poeppel, A. Schierl, and W. Reif, 'Environmentaware proximity detection with capacitive sensors for human-robotinteraction,' in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2016, pp. 145-150. -
Cited by
Sorted by citations
Lessons for Robotics From the Control Architecture of the Octopus
Sivitilli, D. M., Smith, J. R., & Gire, D. H. (2022) · Frontiers in Robotics and AI · doi:10.3389/frobt.2022.862391 · Cited by 13 · see citing works
“Low level fast reactive control has been explored for integration with robot manipulators in proximity perception (Mayton et al., 20102010; Navarro et al., 2021) as well as visual servoing (Espiau et al.”
Self-citation
- Authors
- Navarro, S. E., Muhlbacher-Karrer, S., Alagi, H., Zangl, H., Koyama, K., Hein, B., Duriez, C., & Smith, J. R.
- Affiliations
- Centre Inria de l'Université de Lille (FR)
- JOANNEUM RESEARCH ROBOTICS, Institute for Robotics and Mechatronics, Klagenfurt, Austria
- Karlsruhe Institute of Technology (DE)
- University of Klagenfurt (AT)
- The University of Osaka (JP)
- Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR-IPR), Karlsruhe Institute of Technology, Karlsruhe, Germany
- Inria Lille—Nord Europe, Villeneuve d’Ascq, France
- University of Washington (US)
- ORCID
- Venue
- IEEE Transactions on Robotics
- Published
- 2022-06
- Volume
- 38
- Issue
- 3
- Pages
- 1599-1620
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W3138748647
- Cited by
- 162
- References
- 145
- Citations by year
- 2026: 38 · 2025: 37 · 2024: 38 · 2023: 29 · 2022: 18 · 2021: 2
- FWCI
- 9.68
- Type
- journal article
- Language
- en
- Open access
- green
- arxiv.org
- Licence
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- HAL (submittedVersion, cc-by)
- LillOA (Université de Lille (University Of Lille)) (submittedVersion, other-oa)
- arXiv (Cornell University) (cc-by)
- Funders
- Region Hauts-de-France (ANR-17-ERC2-0029)
- European Regional Development Fund (26616/30969/44253)
- Karntner Wirtschaftsforderungsfonds
- Bundesministerium für Bildung und Forschung (V5ARA114)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Computer Science › Computer Networks and Communications › Sensor Technology and Measurement Systems
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- human-centered robotics, proximity sensors, human-robot interaction, robot safety, robot manipulators, robotic hand, grasping, sensor technology, human-robot collaboration
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
