A proximity and tactile sensor using self-capacitance measurement

Abstract

We propose a proximity and tactile sensor using self-capacitance measurement. The proposed sensor consists of the two electrodes (E1 and E2), GND and elastic body. The capacitance between E1 or E2 and GND is measured by switching between E1 and E2 The capacitance between E2 and GND is used to detect the object before contact (proximity range) and to discriminate the material on contact. In addition, the capacitance between E1 and GND is used to detect the indentation on contact. In the experiment, detection of the object before and after contact, and identification of materials on contact were demonstrated. In addition, the object is grasped by the proposed sensor which detects the object at proximity and contact range. This technique may be applicable to proximity and tactile sensor for robot.