Triaxial force sensor
A triaxial force sensor 1 includes nine first electrodes 11 to 19 , and nine second electrodes 21 to 29 attached to an electrode support 10 in such a manner that the electrode support 10 is interposed between the nine first electrodes 11 to 19 and the nine second electrodes 21 to 29 . A pair of first electrodes 14 and 16 are arranged such that a straight line connecting the two is orthogonal to a straight line connecting a pair of first electrodes 12 and 18 , and the second electrodes 22, 24, 26 , and 28 are arranged such that the respective halves overlap the first electrodes 12, 14, 16 , and 18 in plan view. The sensor has a number of components and size, thereby allowing a reduction in manufacturing cost, in the case of detecting forces in orthogonal triaxial directions.
1. A triaxial force sensor for detecting forces in orthogonal triaxial directions based on changes in capacitance between electrodes, the triaxial force sensor comprising:
a flexible member having dielectric properties and elasticity;
a plurality of first electrodes attached to the flexible member, the first electrodes being spaced apart from each other along a first predetermined plane; and
a plurality of second electrodes spaced apart from each other along a second predetermined plane which is parallel to the first predetermined plane, disposed in spaced face-to-face relation to the plurality of first electrodes, and attached to the flexible member with the flexible member interposed between the second electrodes and the first electrodes, the second electrodes being configured to detect capacitances between the second electrodes and the first electrodes, wherein
the plurality of first electrodes including one pair of the first electrodes and the other pair of the first electrodes different from the one pair of the first electrode,
the plurality of the second electrodes is provided with a second central electrode located in a center when the plurality of the second electrodes is viewed toward the first electrodes, and a plurality of second peripheral electrodes arranged around the second central electrode,
the plurality of the first electrodes is provided with the one pair of the first electrodes and the other pair of the first electrodes partially overlapping the second central electrode when the plurality of the first electrodes is viewed from the second electrode side, and a plurality of first peripheral electrodes facing the plurality of second peripheral electrodes, respectively,
the one pair of the first electrodes being along a first straight line extending along the first predetermined plane, the one pair of the first electrodes being arranged so that when a force in a direction along the first straight line acts on the flexible member, and area of each of the one pair of the first electrodes overlapping the second central electrode when viewed from the second electrode side changes, and
the other pair of the first electrodes being along a second straight line extending along the first predetermined plane while being orthogonal to the first straight line, the other pair of the first electrodes being arranged so that when a force in a direction along the second straight line acts on the flexible member, an area of each of the other pair of the first electrodes overlapping the second central electrode when viewed from the second electrode side changes.
2. The triaxial force sensor according to claim 1 , wherein
the plurality of the second peripheral electrodes includes a pair of the second peripheral electrodes, and
the pair of the second peripheral electrodes are arranged along the second straight line with the first straight line between the pair of the second peripheral electrodes when viewed toward the plurality of the first peripheral electrodes.