協働ロボットのためのひも状自己容量近接覚・触覚センサの提案

抄録

Collaborative robots can work collaboratively with humans in the same place, they are expected to save space and work more efficiently. Proximity and tactile sensors play an important role in ensuring the safety of robots. In this study, we propose a string-like self-capacitive proximity and tactile sensor. The sensor consists of two measurement electrodes (E1 and E2), an elastic body, and a GND electrode. The sensor can be bent in one direction by making slits in electrodes that are non-stretchable metal cloths (E1 and GND electrode). The string like sensor may be wrapped around a robot of various shapes and easily mounted. The string-like self-capacitance proximity and tactile sensor can detect objects at close proximity area and detect contact conditions on contact.