Proximity and Tactile Sensor Using Self-Capacitance Measurement for Human Collaboration Robots

In recent years, human collaboration robots (HCRs) have become an attractive proposition. In this paper, we present a simplified tactile and proximity sensor system for HCRs. The proposed proximity and tactile sensor uses a self-capacitance measurement, and it consists of two electrodes (E1 and E2), and an elastic body. The self-capacitance between either E1 or E2 and ground is measured by switching between E1 and E2. We placed four sensors on the same I2C bus line to cover the robot surface. The proposed sensor on the robot surface can detect the object before contact. In addition, the sensor can detect the pressure and position, and can discriminate the materials upon contact. The developed sensor may thus be applicable for use as a tactile sensor for HCRs.