In robotics, there are many different sensors and actuators mounted onto a robot which may also, in the case of modular robotics, be interchanged during operation. During development of new sensors or actuators, prototypes may also be mounted onto a robot to test functionality, where the new prototypes often have to be integrated manually into the robot environment. Proper, fast and secure identification of new sensor or actuator modules for the robot thus becomes important. In this work, a workflow to add new sensors or actuators to an existing robot environment while establishing trust in an automated manner using electronic datasheets has been developed. The new sensors or actuators are identified via near field communication (NFC) to the system and exchange security information via the same channel. By using electronic datasheets stored on the sensor or actuator, the device can be easily identified and trust can be established by using additional security information contained in the datasheet. In addition, the NFC hardware can simultaneously be used for wireless charging (WLC), thus allowing for wireless sensor and actuator modules. The developed workflow has been tested with prototype tactile sensors mounted onto a robotic gripper.
Keywords: logical sensor integration; security; transducer identification; wireless transducer.