Abstract
Humanoid robots require a skin sensor that allows them to identify objects and to perform in-hand manipulation accurately. Current robots, however, are still unable to achieve the desired accuracy. To achieve such a task, this paper introduces a new design of a capacitive force sensor for the skin. Equipped with temperature sensitivity compensation and digital output. Although the sensor is intended for distributed contact sensing on the skin, it has a wide range of applications. The experiment conducted gave satisfying results, allowing the concept to be tested further to confirm its functionality.
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