Tactile and proximity measurement by 3D tactile sensor using self-capacitance measurement

In this paper, we propose a 3D tactile sensor using self-capacitance measurement for robot. The proposed sensor consists of the two electrodes (E₁ and E₂) and elastic body. The capacitance between E₁ or E₂ and GND is measured by switching between E₁ and E₂. The capacitance between E₁ and GND is used to detect the object before contact (proximity range) and to discriminate the material on contact. The capacitance between E₂ and GND (E₁) is used to detect the indentation on contact. The sensor is attached to the robot surface, and can detect object both before and after contact (3D range). This technique may be applicable to proximity and tactile sensor for robot.