Advanced Capacitor Arrangement for Enhanced Spatial Resolution in Tactile Sensors

A capacitive tactile sensor based on conventional four-planar-capacitor arrangement was advanced in electrode arrangement. The advanced design enhanced the spatial resolution of the tactile sensing unit without sacrificing its sensitivity because the sizes of the four capacitors were not altered. Results indicated that the spatial resolution was enhanced for more than doubled with normal force sensitivity of 3.261 pF/N and the average detection tolerance of the shear angle negligible. This work provided a solution to existing conventionally designs and existing capacitive tactile sensors to enhance the spatial resolution simply by algorithms instead of by any laborious physical modifications.