A tactile proximity sensor

Abstract

This paper introduces a novel tactile sensor with the ability to detect objects in the sensor's near proximity. For both tasks, the same capacitive sensing principle is used. The tactile part of the sensor provides a tactile sensor array enabling the sensor to gather pressure profiles of the mechanical contact area. Several tactile sensors have been developed in the past. These sensors lack the capability of detecting objects in their near proximity before a mechanical contact occurs. Therefore, we developed a tactile proximity sensor, which is able to measure the current flowing out of or even into the sensor. Measuring these currents and the exciting voltage makes a calculation of the capacitance coupled to the sensor's surface and, using more sensors of this type, the change of capacitance between the sensors possible. The sensor's mechanical design, the analog/digital signal processing and the hardware efficient demodulator structure, implemented on a FPGA, will be discussed in detail.