Figure 4
From: Touch, press and stroke: a soft capacitive sensor skin
Characterization of sensor. (A) Characterization setup showing the ATI Nano 17 load cell and the Thorlabs 3-axis stage. (B) Plot showing relation between applied pressure and %ΔC change in capacitance. The inset shows the simulated %ΔC change in capacitance with pressure. (C) Plot showing relation between applied pressure and % change in capacitance with GND shielding to reduce parasitic capacitance. (D) Plots showing response of sensor to normal forces with simultaneous horizontal forces being applied. (E) Image from the bottom of the sensor at steady state (left) and with a shear force applied (right). (F) Plots showing response of sensor to horizontal shear displacement in the X-axis with simultaneous normal forces being applied. (G) Plots showing response of sensor to horizontal shear displacement in the Y-axis with simultaneous normal forces being applied. (H) Sensor applied on a robotic gripper holding a paper cup.
