Abstract
We proposed a proximity and tactile sensor using self-capacitance measurement for robot hand. The proposed sensor consists of the two electrodes (E 1 and E 2 ), GND and elastic body. The capacitance between E 1 or E 2 and GND is measured by switching between E 1 and E 2 . The capacitance between E 1 and GND is used to detect the object before contact (proximity range) and to discriminate the material on contact. In addition, the capacitance between E 2 and GND is used to detect the indentation on contact. In this paper, we propose the array system of this proposed sensor. In the experiment, detection of the object before and after contact, and identification of materials on contact were demonstrated. In addition, the prototype sensor array measured the shape of the object. The proposed sensor array may be useful as a tactile and proximity sensor on robot hand.
Highlights
Nowadays, human-collaborative robots are rapidly emerging in our society
We propose a proximity and tactile sensor array using self-capacitance measurement for robot hand
The proposed sensor consists of the two electrodes (E1 and E2), ground line (GND) and elastic body
Summary
The robot should provide tactile sensor so that it carries out various tasks in collaboration with humans. Many kinds of tactile sensor have already been developed(1)-(3). Most of these sensors detect contact (a) Robot hand (b) Sensor (c). Proximity sensors have been developed to detect the object before contact(4). Multiple tactile and proximity sensors have been proposed to obtain various information. Most of these sensors consist of some single sensing system. We proposed a new single unit tactile and proximity sensing method which simultaneously uses optical and electrical measurement to become the simple wiring(5). The sensor structure may become complicated because the proposed sensor consists of photodiode, LED and electrodes
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call