Contributors: Deformable Robots Simulation Team (DEFROST ); Inria Lille - Nord Europe; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL); Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS); JOANNEUM RESEARCH - Institute for Robotics and Mechatronics; Karlsruhe Institute of Technology (KIT); Alpen-Adria-Universität Klagenfurt Klagenfurt, Austria; Osaka University; University of Washington Seattle; This work was supported by the Region Hauts-de-France, the project COMOROS (ANR-17-ERC2-0029), the European Regional Development Fund (ERDF) and the project Inventor (I-SITE ULNE, le programme d'Investissements d'Avenir, Métropole Européenne de Lille). This work has received funding from the "Karntner Wirtschaftsforderung Fonds" (KWF) and the ”European Regional Development Fund” (EFRE) within the CapSize project26616/30969/44253. This work also was supported by the Federal Ministry of Education and Research (Bundesministerium fur Bildung und Forschung, BMBF) within the project (Verbundprojekt-Nr.: 16SV7823K:).; ANR-17-ERC2-0029,COMOROS,COntrol and Modelling for sOft RObots in Surgery(2017)
نبذة مختصرة : International audience ; 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 paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. Here, 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. Starting from this observation, we propose a categorization for the approaches found in the literature. To provide a basis for understanding these approaches, we devote effort to present the technologies and different measuring principles that were developed over the years, also providing a summary in form of a table. Then, we show the diversity of applications that have been presented in the literature. Finally, we give an overview of the most important trends that will shape the future of this domain.
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