Tactile and proximity measurement by 3D tactile sensor using self-capacitance measurement

In this paper, we propose a 3D tactile sensor using self-capacitance measurement for robot. The proposed sensor consists of the two electrodes (E<sub>1</sub> and E<sub>2</sub>) and elastic body. The capacitance between E<sub>1</sub> or E<sub>2</sub> and GND is measured by switching between E<sub>1</sub> and E<sub>2</sub>. The capacitance between E<sub>1… CONTINUE READING