A tactile proximity sensor
A tactile proximity sensor
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DOI：
10.1109/icsens.2010.5690450
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发表时间：
2010-11
期刊：
影响因子：
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通讯作者：
Dirk Goeger;Matthias Blankertz;H. Woern
中科院分区：
文献类型：
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作者：
Dirk Goeger;Matthias Blankertz;H. Woern
本文介绍了一种新型的触觉传感器，能够检测传感器附近的物体。对于这两个任务，使用相同的电容感测原理。传感器的触觉部分提供触觉传感器阵列，使得传感器能够收集机械接触区域的压力分布。过去已经开发了几种触觉传感器。这些传感器缺乏在机械接触发生之前检测其附近的物体的能力。因此，我们开发了一种触觉接近传感器，它能够测量流出甚至流入传感器的电流。测量这些电流和激励电压可以计算耦合到传感器表面的电容，并且使用更多这种类型的传感器，可以计算传感器之间的电容变化。传感器的机械设计，模拟/数字信号处理和硬件高效的解调器结构，在FPGA上实现，将详细讨论。
This paper introduces a novel tactile sensor with the ability to detect objects in the sensor's near proximity. For both tasks, the same capacitive sensing principle is used. The tactile part of the sensor provides a tactile sensor array enabling the sensor to gather pressure profiles of the mechanical contact area. Several tactile sensors have been developed in the past. These sensors lack the capability of detecting objects in their near proximity before a mechanical contact occurs. Therefore, we developed a tactile proximity sensor, which is able to measure the current flowing out of or even into the sensor. Measuring these currents and the exciting voltage makes a calculation of the capacitance coupled to the sensor's surface and, using more sensors of this type, the change of capacitance between the sensors possible. The sensor's mechanical design, the analog/digital signal processing and the hardware efficient demodulator structure, implemented on a FPGA, will be discussed in detail.