Large Scale Capacitive Skin for Robots

摘要

In order to allow robots to share our space and chores, tactile sensing is crucial. Indeed it allows safe interaction of robots with people and objects, because it provides the most direct feedback to control contact forces both in voluntary and involuntary interactions. Furthermore, it allows improving performance in tasks that require controlled physical interactions in uncontrolled environments where the location and the characteristics of contact cannot be predicted or modeled in advance and more complex forms of interactions are required. Therefore, a tactile sensor system capable of measuring contact forces over large areas is needed. Tactile sensing in robotics has been widely investigated in the past 30 years and many examples of engineering solutions to tactile sensing have been presented in the literature [1]. Research in this field has focused largely on transduction principles and transduction technologies [2]; however, various technical issues have limited the transition from a single tactile element (or a small matrix prototype) to a large scale integrated solution: it is easy to understand that a sensitive robot skin cannot be achieved by simply aggregating a large number of single sensors. In fact, the concept of robot skin entails a number of system level problems that simply do not appear when focusing on small tactile sensors or small area arrays: