Novel Capacitive-Based Sensor Technology for Augmented Proximity Detection

被引:16
作者
Chiurazzi, Marcello [1 ,2 ]
Garozzo, Guido Giuseppe [1 ,3 ]
Dario, Paolo [1 ,2 ]
Ciuti, Gastone [1 ,2 ]
机构
[1] Scuola Super Sant Anna, BioRobot Inst, I-56127 Pisa, Italy
[2] Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy
[3] Univ Pisa, Dept Informat Engn DII, I-56126 Pisa, Italy
基金
欧盟地平线“2020”;
关键词
Collaborative robotics; human-robot collaboration; capacitive sensors; high-range proximity detection; SAFE;
D O I
10.1109/JSEN.2020.2972740
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
In this paper, the authors developed a capacitive-based sensor technology for high-range proximity detection, composed of multiple active units. The single sensor unit consists of a multi-layer compliant structure with a coplanar plate capacitor configuration. A prototype, composed of two single active units, was designed using, for each one, conductive electrodes printed on a polyimide layer and positioned in the middle of soft polymeric insulating substrates, either acting as shock-absorber and for sensor electrical and mechanical protection. For an in-depth theoretical analysis of the physical capacitive principle, a conditioning electronic circuit (i.e. data collection, conversion, amplification and filtering modules) was built in order to collect a digital voltage output proportional to the variable sensed capacitance. Experiments were performed to characterize the single capacitive sensor and the multi-unit sensor technology (i.e. curve of response, dynamic response, accuracy and precision). The results confirmed the outcomes originally achieved through FEM simulations and the effectiveness of the technology in high-range detection. Using a combination of two active sensor units, an operating range was achieved of up to 15 times the performance of a single commercial capacitive sensor with comparable dimensions.
引用
收藏
页码:6624 / 6633
页数:10
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