We proposed a proximity and tactile sensor using capacitance measurement. The proposed sensor consists of the three electrodes (X1, X2, Y). The capacitance between X electrode (X1 or X2) and Y electrode is measured by switching between X1 and X2. In addition, the other electrode (X2 or X1) is grounded. The capacitance between X1 and Y electrode is detected the object before contact (proximity range), and discriminate the material on contact. In addition, the capacitance between X2 and Y electrode is detected the indentation on contact. In the experiment, detection of the object before and after contact, and identification of two kinds of materials on contact were demonstrated. This technique may be applicable to proximity and tactile sensor for robot and touch screen.
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