Conference item
Sestosenso: proxy-tactile perception for intelligent and safe human–robot interaction
- Abstract:
- Next-generation collaborative robots require enhanced perception and physical awareness to interact safely with humans and operate effectively in unstructured and cluttered environments. This paper presents SESTOSENSO, a framework for proxy-tactile perception and control that combines large-area multimodal robot skin, distributed embedded sensing, middleware layer, perception modules, and reactive control strategies for safe human–robot collaboration. The framework is built around ProxySKIN, which integrates tactile and proximity sensing over the robot body to provide a continuous perceptual capability, from pre-contact awareness to physical interaction. On top of this sensing layer, SESTOSENSO supports key enabling functionalities including proxy-tactile control, safe human–robot interaction, environment perception, and robot self-awareness. This paper presents the overall system architecture and the role of its main components within a unified proxy-tactile framework. The approach is validated in an automotive collaborative scenario, in which the sensorized robotic system assists a human operator during vehicle assembly operations. The results show the feasibility of the proposed framework for supporting safe human-robot collaboration in industrial settings.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
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- Files:
-
-
(Preview, Accepted manuscript, pdf, 2.1MB, Terms of use)
-
- Publisher copy:
- 10.1109/aim65483.2026.11658209
Authors
+ Engineering and Physical Sciences Research Council
More from this funder
- Funder identifier:
- https://ror.org/0439y7842
- Grant:
- 2780895
- Publisher:
- IEEE
- Host title:
- 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Conference Proceedings
- Pages:
- 1-8
- Publication date:
- 2026-08-25
- Acceptance date:
- 2026-05-01
- Event title:
- 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
- Event location:
- Genova, Italy
- Event website:
- https://aim2026.com/
- Event start date:
- 2026-07-07
- Event end date:
- 2026-07-10
- DOI:
- EISSN:
-
2159-6255
- ISSN:
-
2159-6247
- EISBN:
- 9798319536112
- ISBN:
- 9798319536129
- Language:
-
English
- Keywords:
- Pubs id:
-
2453993
- Local pid:
-
pubs:2453993
- Deposit date:
-
2026-09-13
- ARK identifier:
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2026
- Rights statement:
- ©2026 by IEEE
- Notes:
- The author accepted manuscript (AAM) of this paper has been made available under the University of Oxford's Open Access Publications Policy, and a CC BY public copyright licence has been applied.
- Licence:
- CC Attribution (CC BY)
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