Capacitive tactile sensor with slip detection capabilities for robotic applications

In this paper we report a 3D tactile sensor with slip detection capabilities for robotic applications. The sensor translates a change in force to a change in air-gap which leads to a change in capacitance. The proposed sensor models the contact force as a polynomial function of measured capacitance. Finite element analysis was done on the proposed sensor design and its characteristics were studied. The prototype sensor developed was tested and found to provide an output corresponding to the applied contact force with reasonable accuracy and high repeatability and detect slip. The sensor can be easily manufactured and assembled at low cost.