Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin
Collaborative robots need to work with people in shared spaces interactively, so a robotic e‐skin with large‐area contact sensing capability is a crucial technology to ensure human safety. However, realizing real‐time contact localization and intensity estimation on a robot body with a large area of...
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| Main Authors: | , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2025-08-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202400903 |
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| author | Rui Jiao Zhengjun Wang Ruoqin Wang Qian Xu Jiacheng Jiang Boyang Zhang Simin Yang Yang Li Yik Kin Cheung Fan Shi Hongyu Yu |
| author_facet | Rui Jiao Zhengjun Wang Ruoqin Wang Qian Xu Jiacheng Jiang Boyang Zhang Simin Yang Yang Li Yik Kin Cheung Fan Shi Hongyu Yu |
| author_sort | Rui Jiao |
| collection | DOAJ |
| description | Collaborative robots need to work with people in shared spaces interactively, so a robotic e‐skin with large‐area contact sensing capability is a crucial technology to ensure human safety. However, realizing real‐time contact localization and intensity estimation on a robot body with a large area of continuous and complex surfaces is challenging. Herein, a novel large‐area conformal Kirigami structure that can be customized for complex geometries and transform small‐area planar sensor arrays into large‐area curved conformal e‐skin is proposed. This sensor network can effectively detect Lamb/guided wave responses generated by transient hard contact. Additionally, a convolutional neural network‐based deep learning algorithm is implemented to decode the features of guided wave signals and predict the contact location and energy intensity on the robot surface. With the deep learning‐based method, the accuracy of collision localization can reach 2.85 ± 1.90 mm and the prediction error of collision energy can reach 9.8 × 10−4 ± 8.9 × 10−4 J. Demonstrations show that the proposed method can provide real‐time on‐site contact sensing, providing a promising solution for future intelligent human–robot interaction. |
| format | Article |
| id | doaj-art-d0598a6d690a4ec68cafaa5dc457778f |
| institution | Kabale University |
| issn | 2640-4567 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-d0598a6d690a4ec68cafaa5dc457778f2025-08-21T11:05:47ZengWileyAdvanced Intelligent Systems2640-45672025-08-0178n/an/a10.1002/aisy.202400903Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐SkinRui Jiao0Zhengjun Wang1Ruoqin Wang2Qian Xu3Jiacheng Jiang4Boyang Zhang5Simin Yang6Yang Li7Yik Kin Cheung8Fan Shi9Hongyu Yu10Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaAcademy of Interdisciplinary Studies The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaDepartment of Mechanical and Aerospace Engineering The Hong Kong University of Science and Technology Kowloon Hong Kong SAR ChinaCollaborative robots need to work with people in shared spaces interactively, so a robotic e‐skin with large‐area contact sensing capability is a crucial technology to ensure human safety. However, realizing real‐time contact localization and intensity estimation on a robot body with a large area of continuous and complex surfaces is challenging. Herein, a novel large‐area conformal Kirigami structure that can be customized for complex geometries and transform small‐area planar sensor arrays into large‐area curved conformal e‐skin is proposed. This sensor network can effectively detect Lamb/guided wave responses generated by transient hard contact. Additionally, a convolutional neural network‐based deep learning algorithm is implemented to decode the features of guided wave signals and predict the contact location and energy intensity on the robot surface. With the deep learning‐based method, the accuracy of collision localization can reach 2.85 ± 1.90 mm and the prediction error of collision energy can reach 9.8 × 10−4 ± 8.9 × 10−4 J. Demonstrations show that the proposed method can provide real‐time on‐site contact sensing, providing a promising solution for future intelligent human–robot interaction.https://doi.org/10.1002/aisy.202400903deep learningguided waveskirigami structureslarge‐area contact sensingrobotic e‐skins |
| spellingShingle | Rui Jiao Zhengjun Wang Ruoqin Wang Qian Xu Jiacheng Jiang Boyang Zhang Simin Yang Yang Li Yik Kin Cheung Fan Shi Hongyu Yu Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin Advanced Intelligent Systems deep learning guided waves kirigami structures large‐area contact sensing robotic e‐skins |
| title | Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin |
| title_full | Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin |
| title_fullStr | Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin |
| title_full_unstemmed | Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin |
| title_short | Deep Learning Based Large‐Area Contact Sensing for Safe Human–Robot Interaction Using Conformal Kirigami Structure‐Enabled Robotic E‐Skin |
| title_sort | deep learning based large area contact sensing for safe human robot interaction using conformal kirigami structure enabled robotic e skin |
| topic | deep learning guided waves kirigami structures large‐area contact sensing robotic e‐skins |
| url | https://doi.org/10.1002/aisy.202400903 |
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