We propose a proximity and tactile sensor using self-capacitance measurement. The proposed sensor consists of the two electrodes (E
1 and E
2), GND and elastic body. The capacitance between E
1 or E
2 and GND is measured by switching between E
1 and E
2. The capacitance between E
2 and GND is used to detect the object before contact (proximity range) and to discriminate the material on contact. In addition, the capacitance between E
1 and GND is used to detect the indentation on contact. In the experiment, detection of the object before and after contact, and identification of materials on contact were demonstrated. In addition, the object is grasped by the proposed sensor which detects the object at proximity and contact range. This technique may be applicable to proximity and tactile sensor for robot.
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