A Proposal of a String-like ToF and Self-capacitance Combined Sensor for Robots

Abstract

Collaborative robots do not require safety fences and can work with humans in the same place. They are expected to save workspace and improve work efficiency. Proximity and tactile sensors on a robot are useful for ensuring the safety of robot operations. In this study, we propose a string-like Time of Flight (ToF) and self-capacitance combined proximity and contact sensor. The string-like sensor is expected to wrap around the robot surface for easy mounting. The sensor consists of multiple ToF sensors and a self-capacitance sensor. The ToF sensor can detect the distance to an object by measuring the reflection time of the irradiated light. The self-capacitance sensor can detect an object in close proximity range, and also detect a human touch. By combining ToF sensors with a self-capacitance sensor, the sensor can detect an object at non-contact with minimal blind spots and can also detect a contact.