Figure 8
Concurrent thermal display and capacitive sensing. (A) We investigated the effect of the cover on humanoid’s capacitive sensing by grasping (full touch) the upper arm. (B) The capacitive sensor outputs were compared in three cases: (1) naked arm (without cover), (2) with the cover empty, and (3) with the cover filled with water. The three graphs show the average and the standard deviation (red line) of the capacitive sensor’s outputs recorded for 20 s without contact. Namely, the cover affects the capacitive sensing because the cover’s material itself and water are conductive. (C) We recalibrated after fitting the cover so that it does not affect the sensing. The outputs were monitored while heating and cooling the cover, grasping in 3 min except 20 s in the beginning and the end. These results suggest that our operating cover can be used concurrently with capacitive sensing.
