US 12,306,060 B2
Sensor device with a combined force and capacitance sensor
Holger Urbanek, Munich (DE); Michael Wolfgang Strohmayr, Augsburg (DE); Conrad Helminger, Munich (DE); and Alexander Römmelt, Munich (DE)
Assigned to Tacterion GmbH, Munich (DE)
Appl. No. 17/775,072
Filed by TACTERION GMBH, Munich (DE)
PCT Filed Nov. 24, 2020, PCT No. PCT/EP2020/083159
§ 371(c)(1), (2) Date May 6, 2022,
PCT Pub. No. WO2021/105097, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 10 2019 132 103.4 (DE), filed on Nov. 27, 2019.
Prior Publication US 2022/0390306 A1, Dec. 8, 2022
Int. Cl. G01L 5/165 (2020.01); G01L 5/00 (2006.01); G01L 1/14 (2006.01); G06F 3/044 (2006.01)
CPC G01L 5/165 (2013.01) [G01L 5/0028 (2013.01); G01L 5/009 (2013.01); G01L 1/146 (2013.01); G06F 3/044 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A machine comprising:
a handling interface configured to be handled;
a sensor device comprising:
a combined sensor arranged in association with the handling interface and configured to simultaneously detect a mechanical force Fext applied to the sensor by an object OBJ made of a material MAT, a position POSFext of the mechanical force Fext applied to the sensor, and an electrical capacitive coupling CSEN-OBJ of the sensor with the object OBJ made of the material MAT;
a database configured to provide relationships Zn of a capacitive coupling CSEN-OBJ-MATn of the sensor with the object OBJ made of a material MATn for a number N of specified materials MATn as a function of a mechanical force Fext,OBJ that the object OBJ applies to the sensor, wherein n=1, 2, . . . , N and N≥1;
a detection unit configured to detect current values of the sensor for a time t: force Fext(t), position POSFext(t), and capacitive coupling CSEN-OBJ(t) from sensor data of the sensor;
an evaluation unit configured to determine a material MAT* of the object OBJ that applies the force Fext(t) to the sensor based on the capacitive coupling CSEN-OBJ(t) as identified in the relationships Zn, wherein MAT*ϵMATn; and
an output unit configured to output the material MAT* of the object OBJ associated with the sensor's detection; and
switching logic configured to generate a signal controlling the machine to allow operation of the machine at least when the material MAT* of the object OBJ matches a predetermined material.