Universal double-spatial-resolution solution for capacitive tactile sensors

A universal solution to at least double the spatial resolution for capacitive tactile sensors was proposed in this work. With this solution, one sensing unit that contains only two capacitors is able to detect both normal and shear forces with angles. This solution, differs from conventional four-capacitor designs, has capacitor arrangement compactness and thus has potential to replace all four-capacitor arrangements in capacitive tactile sensors. Simulations were conducted in parallel to verify the proposed design and to validate the capacitive response of this solution along various applied shear forces and their angles. Furthermore, different capacitor shapes were evaluated for even higher spatial resolution however lower sensitivity.