Tactile and proximity sensor using self-capacitance measurement on curved surface

In this paper, we develop a tactile and proximity sensor using self-capacitance measurement on the curved surface for human collaboration robot (HCRs). The proposed sensor consists of two measurement electrodes and an elastic body. We produced the prototype sensor using the flexible circuit board. Thus, the sensor can curve in the curved surface. The sensor using self-capacitance measurement can detect the object before contact, and detect the pressure and discriminate the material on contact. Therefore, the sensor will assure the safety and workability of the robot because the robot will avoid unnecessary contact with objects including humans.