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Large-Area and Low-Cost Force/Tactile Capacitive Sensor for Soft Robotic Applications.

Amir Pagoli¹, Frédéric Chapelle¹, Juan-Antonio Corrales-Ramon²

¹Institut Pascal, Université Clermont Auvergne, Clermont Auvergne INP, CNRS, 63000 Clermont-Ferrand, France.

Sensors (Basel, Switzerland)

|June 10, 2022

Summary

This study introduces a low-cost, flexible multi-touch sensor for soft robots. It detects touch points and force on any object, unlike previous sensors, enabling advanced robotic grasping.

Keywords:

calibration capacitive sensor neural network soft pneumatic actuator soft robot soft sensor tactile sensor

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Area of Science:

Robotics
Materials Science
Sensor Technology

Background:

Existing e-skin sensors are limited to detecting conductive objects.
There is a need for versatile tactile sensors in soft robotics for object manipulation.
Current sensors often struggle with noise and non-linearity in force calibration.

Purpose of the Study:

To design and develop a novel, low-cost, multi-touch capacitive sensor.
To enable tactile sensing of both contact point and applied force, irrespective of object conductivity.
To integrate this sensor into a soft robot gripper for advanced control.

Main Methods:

Fabrication using inexpensive, readily available materials like conductive ink and silicone.
Utilizing capacitive variations to detect multi-touch points and applied force.
Employing a neural network for accurate force calibration against a commercial force sensor.
Integrating the sensor into a soft robot gripper for real-world testing.

Main Results:

The sensor successfully detects five multi-touch points simultaneously.
It accurately measures applied force on objects regardless of their conductivity.
The neural network effectively calibrates force measurements amidst noise and non-linearity.
The soft robot gripper demonstrated effective object grasping with position and force feedback.

Conclusions:

The developed sensor offers a flexible, low-cost, and versatile tactile sensing solution for soft robotics.
This technology advances robotic manipulation capabilities by providing non-conductive object interaction and precise force feedback.
The sensor's design and calibration method show significant potential for broader applications in human-robot interaction and advanced robotics.