A Proposal of ToF and Self-capacitance Proximity and Tactile Sensor for Collaborative Robots

Abstract

Collaborative robots are one of the useful workforces in the future because they can work with people in the same place. Proximity and tactile sensors play an important role in ensuring the safety of collaborative robots. In this study, we propose a combination sensor for collaborative robots with a time-of-flight (ToF) sensor and self-capacitance proximity and tactile sensor. The ToF sensor can detect the distance to an object in the non-contact range. However, the detection accuracy and X–Y measurement range are reduced at short distances. Self-capacitance proximity and tactile sensing can detect objects at short distances and detect contact conditions. The prototype sensor detected the distance of objects less than 300 mm, and detected the pressure and the position on contact. We think that the proposed sensor can be used as a proximity and tactile sensor for collaborative robots.