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A Hybrid Magnetic and Self-Capacitance Proximity and Tactile Sensor
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DOI：10.1109/JSEN.2026.3692824.png)
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Abstract
En 中文
Tactile sensors mounted on grippers play a crucial role in enabling robots to grasp a variety of objects accurately. In this article, we propose a hybrid magnetic and self-capacitance proximity and tactile sensor that combines a self-capacitance proximity and tactile sensor with a magnetic tactile sensor. The self-capacitance proximity and tactile sensor enables both noncontact measurements and one-axis contact pressure sensing, while the magnetic sensor provides three-axis pressure measurements. To address the influence of an object’s magnetism on magnetic sensing, corrections are applied using contact information from the self-capacitance sensor. The prototype sensor measures <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$20 \times 20$ </tex-math></inline-formula> mm with a thickness of approximately 8.5 mm and operates at a sampling rate of approximately 70 Hz. In experiments, grounded conductors were detected at distances of approximately 40mmand dielectric objects (acrylic) at approximately 20 mm in the noncontact state. The sensor measured Z-axis forces to 10 N and X-Y forces to ±3 N. Experimental results demonstrate that the proposed sensor can detect objects in close proximity and measure three-axis contact forces, even for magnetic objects. Thus, the proposed sensor is a promising tactile sensing solution for robotic grippers.
Keywords:
Capacitive sensors
magnetic sensors
proximity and tactile sensors
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