人間共存型ロボットのための近接覚・触覚センサの開発

抄録

We proposed a proximity and tactile sensor using self-capacitance measurement for human collaboration 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 sensor can detect the object both before and after contact. In this paper, we produce the 4 sensors on same I²C line for covering the robot surface. The prototype sensors measure the object at the proximity range and on contact. The sensors may be applicable to tactile sensor for robot.