关键词：
Collaborative robotics
human-robot collaboration
capacitive sensors
high-range proximity detection
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.
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