Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

摘要: Abstract In a capacitive tactile sensor the dielectric layer plays an important role: both its electrical and mechanical properties affect capacitance variation response in terms of sensitivity, since deformation ability allows for detection small pressures, spatial resolution, acts as low-pass filter decreasing resolution. this work we comparatively evaluate effect different elastomers on performance designed to cover large areas robot body. particular, compare resolution durability using foams, bulk high permittivity composites.