Touch sensor e.g. capacitive touch sensor for use with interaction robot, for determining e.g. contact location, has evaluating device that evaluates changes of detected reflecting beams, caused by deformation of surface element

摘要

The touch sensor has a resilient surface element (10) whose backside (20) is illuminated by an illumination unit (16). A detection element (26) is provided for detecting the reflecting beams (22) from backside of the surface element. An evaluating device (27) is connected with the detection element, for evaluating the changes of the detected reflecting beams, caused by deformation of the surface element. An independent claim is included for method for determining contact location and contact force.