Capacitor array sensors tactile and proximity sensing and methods of use thereof
First Claim
1. A capacitance sensor array for proximity and tactile sensing of properties of an object comprising a plurality of capacitor plate elements formed in an array of known topology, means for actively connecting each of said plate elements and said object to one of a plurality of corresponding oscillator circuits so that the oscillation frequency of each said circuit is a function of the capacitance between each said plate element and said object, when said sensor array and said object are in contact, and means for generating an output from said sensor which is a function of the tactile properties of said object from the said plurality of oscillator circuits.
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Accused Products
Abstract
An arrangement for a tactile sensing system involved in the determination of object shape, contour, orientation and detection of slip finding one use in real time control of robotically manipulated tools. The sensor uses contact between the object and a gripper upon which the sensor is disposed wherein the object surface forms one plate of the sensing electrode.
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Citations
24 Claims
- 1. A capacitance sensor array for proximity and tactile sensing of properties of an object comprising a plurality of capacitor plate elements formed in an array of known topology, means for actively connecting each of said plate elements and said object to one of a plurality of corresponding oscillator circuits so that the oscillation frequency of each said circuit is a function of the capacitance between each said plate element and said object, when said sensor array and said object are in contact, and means for generating an output from said sensor which is a function of the tactile properties of said object from the said plurality of oscillator circuits.
- 9. A capacitance sensor for detecting relative movement between said sensor and an object capable of detecting movements of about 2.5 micrometers and greater in a time of about 10 milliseconds or less, when said sensor and said object are in contact with one another, comprising means for capacitively coupling said sensor and said object, oscillator means having a frequency rate which is a function of the capacitance between said sensor and said object, and means for generating a output signal which is a measure of slip from a change in the frequency of said oscillator representing a change in capacitance between said sensors and said object.
- 14. A detector for determining tactile and proximity information concerning an object in contact therewith, comprising a sensor having a plurality of capacitor plate elements formed in an array of known topology and signal processing means for employing said sensor signals resulting from variations in capacitance between the individual capacitor plate elements and said object to determine tactile and proximity information about said object.
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24. A capacitance sensor array for tactile sensing of quality control properties of an object comprising a plurality of capacitor plate elements formed in an array of topology conforming to the topology of the design of said object, means for actively connecting each of said plate elements and said object to one of a plurality of corresponding oscillator circuits so that the oscillation frequency of each said circuit is a function of the capacitance between each said plate element and said object, and means for generating an output from said sensor which is a function of the conformity of the shape of said object to the shape of said design topology of said object determined by response of the said plurality of oscillator circuits.
Specification