Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

TL;DR

This survey reviews the evolution, sensing technologies, applications, and future trends of proximity perception in human-centered robotics, emphasizing safety, interaction, and exploration functionalities.

Contribution

It provides a comprehensive categorization of proximity sensing approaches, summarizes technological principles, and highlights diverse applications and future directions in the field.

Findings

Proximity sensors are used on manipulator exteriors and inside grippers for safety and grasping.

The paper categorizes sensing approaches and summarizes technologies and principles.

Identifies key trends shaping future research in proximity perception.

Abstract

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.