Abstract
This paper introduces a novel tri-axial capacitive force sensor. The sensor can measure the force vector, is embedded in soft 7 mm-thick silicone skin, enables temperature sensitivity compensation and has digital output. To measure the force vector, tilted capacitive sensor elements are used which are facing in different directions to differentiate the tangential forces. The sensor is intended for distributed contact sensing in a robotic skin, but could be also used for other applications such as novel haptic user interfaces in wearable devices. A series of experiments was performed and showed good sensor characteristics. The concept of the tilted force transducers has been proven to have the capability of detecting the force vector acting on the local sensor surface.
| Original language | English |
|---|---|
| Pages (from-to) | 1375-1391 |
| Number of pages | 17 |
| Journal | Advanced Robotics |
| Volume | 29 |
| Issue number | 21 |
| DOIs | |
| Publication status | Published - 2015 Nov 2 |
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Keywords
- capacitance measurement
- force sensing
- humanoid robot
- tactile sensing
- tri-axial force
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Hardware and Architecture
- Software
Cite this
A novel tri-axial capacitive-type skin sensor. / Somlor, Sophon; Hartanto, Richard Sahala; Schmitz, Alexander; Sugano, Shigeki.
In: Advanced Robotics, Vol. 29, No. 21, 02.11.2015, p. 1375-1391.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A novel tri-axial capacitive-type skin sensor
AU - Somlor, Sophon
AU - Hartanto, Richard Sahala
AU - Schmitz, Alexander
AU - Sugano, Shigeki
PY - 2015/11/2
Y1 - 2015/11/2
N2 - This paper introduces a novel tri-axial capacitive force sensor. The sensor can measure the force vector, is embedded in soft 7 mm-thick silicone skin, enables temperature sensitivity compensation and has digital output. To measure the force vector, tilted capacitive sensor elements are used which are facing in different directions to differentiate the tangential forces. The sensor is intended for distributed contact sensing in a robotic skin, but could be also used for other applications such as novel haptic user interfaces in wearable devices. A series of experiments was performed and showed good sensor characteristics. The concept of the tilted force transducers has been proven to have the capability of detecting the force vector acting on the local sensor surface.
AB - This paper introduces a novel tri-axial capacitive force sensor. The sensor can measure the force vector, is embedded in soft 7 mm-thick silicone skin, enables temperature sensitivity compensation and has digital output. To measure the force vector, tilted capacitive sensor elements are used which are facing in different directions to differentiate the tangential forces. The sensor is intended for distributed contact sensing in a robotic skin, but could be also used for other applications such as novel haptic user interfaces in wearable devices. A series of experiments was performed and showed good sensor characteristics. The concept of the tilted force transducers has been proven to have the capability of detecting the force vector acting on the local sensor surface.
KW - capacitance measurement
KW - force sensing
KW - humanoid robot
KW - tactile sensing
KW - tri-axial force
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U2 - 10.1080/01691864.2015.1092394
DO - 10.1080/01691864.2015.1092394
M3 - Article
VL - 29
SP - 1375
EP - 1391
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 21
ER -