Stacked electrostatic angle sensor implemented in micro robot leg joints

Tomoya Hara, Kazuto Asamura, Yuya Nagata, Sumito Nagasawa

Research output: Contribution to journalArticlepeer-review


Recently, micro walking robots have attracted considerable research interest, as they can move robustly in various terrains and are especially useful in swarm applications. To realize angle control for the robots, external sensors such as rotary encoders were attached to joints. When assembling external sensors and joint components, careful handling and positioning are needed. However, robots requiring intricate assembly of multiple components are not optimal for the above-mentioned applications. We proposed the integration of robot frames and capacitive angle sensors to one compliant sheet. Moreover, a stacked electrostatic angle sensor was developed by alternately folding two ribbon electrodes. The angle was estimated from the capacitance based on the distance between the electrodes. The sensor was designed and fabricated. Furthermore, we constructed the angle feedback control system using the proposed sensor. Feedback control within the range of 0° to 30° could be realized.

Original languageEnglish
Article numberSCCL08
JournalJapanese Journal of Applied Physics
Issue numberSC
Publication statusPublished - 2021 Jun

ASJC Scopus subject areas

  • Engineering(all)
  • Physics and Astronomy(all)


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