Multimodal capacitive proximity sensing array with programmable spatial resolution and dynamic detection range

Abstract

Capacitive proximity sensing arrays (CPSAs) have diverse applications in industrial and service fields. However, the trade-off between spatial resolution and detection range poses challenges for such sensors in flexible interactive environments. This paper presents a physical combination approach to address this key barrier by modulating the effective sensing area of electrodes. Using an 8-element CPSA, we demonstrate 800% adjustability in spatial resolution and 300% in detection range. Finally, implemented on a robotic hand, it realizes large-scale distance estimation and high-precision (>95%) feature classification in real grasping scenarios. The distinctive feature of this method is that the physically effective contact avoids a large number of parasitic capacitance and noise interference, and has a highly stable signal acquisition capability in different perception modes. This method paves a new way to enhance and flexibly tune existing CPSA performance.