Proximity and tactile sensor using self‐capacitance measurement for human collaboration robots

• Tsuji Satoshi

  Department of Electrical Engineering, Fukuoka University

• Kohama Teruhiko

  Department of Electrical Engineering, Fukuoka University

書誌事項

タイトル別名

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

抄録

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.

収録刊行物

• 電気学会論文誌Ｅ（センサ・マイクロマシン部門誌）

  電気学会論文誌Ｅ（センサ・マイクロマシン部門誌） 138 (1), 2-8, 2018

  一般社団法人 電気学会

キーワード

• proximity sensor
• tactile sensor
• capacitance measurement
• robot

詳細情報

• CRID: 1390001204461989632
• NII論文ID: 130006301173
• NII書誌ID: AN1052634X
• DOI: 10.1541/ieejsmas.138.2
• ISSN: 13475525
• ISSN: 13418939
• NDL書誌ID: 028782395
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I028782395
• Web Site: https://www.jstage.jst.go.jp/article/ieejsmas/138/1/138_2/_pdf
• 本文言語コード: en
• データソース種別:
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