"Safe Skin" - A Low-Cost Capacitive Proximity-Force-Fusion Sensor for Safety in Robots

This paper presents the design and evaluation of the low-cost capacitive proximity-force-fusion sensor "safe skin", which can measure simultaneously the proximity of humans as well as the contact force. It was designed such that the force and proximity sensing functions can work concurrently without interfering with each other. Moreover, active shielding, on-chip digitization and ground isolation ...