FR3083728A1 - APPARATUS HAVING CAPACITIVE DETECTION AND AT LEAST ONE CAPACITIVE EXTENSION PART - Google Patents

Abstract

The invention relates to an apparatus comprising measurement electrodes (108) and capacitive detection electronics configured to: - polarize the measurement electrodes (108) at an alternating electrical detection potential, different from a ground potential, at a frequency, called detection frequency, and - detecting a signal relating to a capacitive coupling between said object and at least one measurement electrode (108); said apparatus further comprising at least one said extension member (300) fixed to said apparatus above at least one measurement electrode (108), and in electrical coupling with said at least one measurement electrode (108) , so as to extend the capacitive detection carried out by said at least one measurement electrode (108).

Description

"Device with capacitive detection and at least one capacitive extension part"

Technical area

The present invention relates to an apparatus, in particular a robot, provided with a capacitive detection functionality and at least one extension part making it possible to offset, and / or extend, the capacitive detection functionality.

The field of the invention is, without limitation, that of the field of robotics, in particular the field of industrial robotics or service robots, for example medical or domestic, or even collaborative robots, also called “cobots ".

State of the art

In the field of collaborative robotics, robots can be equipped with capacitive sensors to detect the approach of objects or human operators in the vicinity of said robot. These sensors can for example comprise capacitive electrodes arranged in the form of sensitive surfaces which at least partially cover the surface of the robot. These capacitive electrodes are polarized at an alternating excitation potential, and connected to a detection electronics which measures the capacitive coupling between these electrodes and objects polarized at a potential different from the electrodes, most often the ground.

It may be necessary to add accessories to a robot equipped with such a capacitive detection functionality, such as, for example, cable supports for keeping electrical cables running along the robot, handles for manipulation allowing an operator to manipulate the robot, etc.

These accessories can degrade the detection of objects in the detection zone of the sensors, which degrades the capacitive detection. These accessories can also constitute elements which protrude beyond the detection zone of the sensors, and therefore are liable to collide with objects before these are detected.

- 2 An object of the present invention is to overcome these drawbacks.

Another object of the invention is to propose a solution allowing the addition of extension members to a device without degrading the capacitive detection functionality fitted to said device.

It is also an object of the present invention to propose a solution allowing the addition of extension members to a device equipped with a capacitive detection functionality, while preventing these members from leaving the capacitive detection zone.

It is also an object of the present invention to propose a solution allowing the addition of extension members to a device equipped with a capacitive detection functionality, so as to extend the capacitive detection zone.

Statement of the invention

At least one of these goals is achieved with an apparatus comprising one or more electrodes, called measurement, for detecting at least one object in a detection zone, and a capacitive detection electronics configured for:

polarizing the measurement electrode (s) to an alternating electrical potential, called detection, different from a ground potential, at a frequency, called detection, and

- detecting a signal relating to a capacitive coupling between said object and at least one measurement electrode;

said apparatus further comprising at least one member, called an extension member:

- fixed to said device above at least one measuring electrode, and

- in electrical coupling with said at least one measurement electrode; so that said extension member extends the capacitive detection carried out by said at least one measurement electrode.

The device according to the invention therefore proposes to position the extension member above, and in electrical contact with, at least part of at least one measurement electrode, so that the detection member is

- 3 behaves as a measuring electrode, or as an extension of at least one measuring electrode.

Thus, the extension member carries out an extension of the capacitive detection initially carried out by the measurement electrode, so as to extend the detection zone in which objects can be detected beyond the detection zone of the or measuring electrodes. Under these conditions, the extension member does not disturb the capacitive detection. In addition, the detection member is included in the capacitive detection zone which it helps to extend so that it is not likely to collide with objects before these are detected by the capacitive detection.

In the present application, two AC potentials are identical at a given frequency when they each have an AC component identical or similar to this frequency, that is to say of the same amplitude (for example within a few percent) and of the same phase (for example within a few degrees). Thus, at least one of the two potentials identical to said frequency may further comprise a DC component, and / or an AC component of frequency different from said given frequency.

Similarly, two AC potentials are different at the given frequency when they do not have an identical or similar AC component at this given frequency.

In the present application, the term “ground potential” or “general ground potential” designates a reference potential of the electronics, the robot or its environment, which can for example be an electrical ground or a ground potential. This ground potential can correspond to a ground potential, or to another potential connected or not to the ground potential.

It is also recalled that in general, objects which are not in direct electrical contact with a particular electrical potential (electrically floating objects) tend to polarize by capacitive coupling to the electrical potential of other objects present in their environment, such as for example earth or electrodes, if the covering surfaces between

- 4 these objects and those of the environment (or the electrodes) are sufficiently important.

In the present request, “object” designates any object, or any person, which may be in the environment of the robot.

In particular, an extension member can be fixed to the device in a removable or removable manner. By “dismountable” is meant dismantling without degrading either the device or the extension member.

At least one extension member can be fixed to the device, by any known fixing means such as screws, bolts, magnetic fixing, gluing, collar, etc.

According to nonlimiting exemplary embodiments, at least one extension member may be, or may include:

- an extension finger for the capacitive detection function,

- a cable or sheath support, or

- a handle for manipulating said device.

According to a nonlimiting embodiment, at least one extension member may comprise a part, in particular a body, made of at least one dielectric material with relative permittivity greater than 1.5, in particular greater than 2, or even more particularly greater than 3, or even more particularly greater than 5.

Such a dielectric material may for example include plastic, or a polymeric material such as polyvinyl chloride (PVC), polyurethane, polyester, polyamide, glass fiber-filled polyamide, acrylonitrile butadiene styrene (ABS). ) ....

A material of relative dielectric permittivity greater than the values indicated allows a capacitive electrical coupling with the measurement electrode or electrodes sufficient to allow an extension of the capacitive detection in the extension member.

In fact, according to the well-known formula of the planar capacitor, the capacitance between two electrodes is proportional to the relative dielectric permittivity of the medium between these electrodes. Now, the impedance of a capacitor at a

- 5 non-zero frequency as the detection frequency is inversely proportional to this capacity. It follows that a medium of high relative dielectric permittivity, in particular greater than 3, has a low impedance and behaves as a conducting medium or at least partially conducting at sufficiently high detection frequencies. The extension member made of dielectric material thus polarizes at the potential of the electrode or at a potential arising from the potential of the electrode, and behaves like a secondary measurement electrode coupled to the measurement electrode.

According to an embodiment which is in no way limitative, at least one extension member can be made entirely of dielectric material (s).

Such an extension member is easy to produce.

Such an extension member can be produced by machining, molding, etc. The extension member can be made from a single material.

It can also comprise several different dielectric materials, or of different dielectric permittivity. It can in particular comprise a dielectric material of particularly high permittivity (for example greater than 3 or 5) placed in certain places to selectively optimize the capacitive coupling with the measurement electrode and / or the environment.

Thus, in general, the capacitive coupling can be optimized with the choice of materials, the arrangement of the contact surface with the measurement electrodes, and the shape of the extension member.

Alternatively, or in addition, at least one extension member can comprise at least one electrically conductive part.

An electrically conductive part is a part whose electrical resistance (or real part of the impedance) is low or moderate, including preferably for continuous signals.

Such an electrically conductive part allows better electrical coupling with at least one measurement electrode, and / or better propagation of the capacitive detection function within the extension member than a purely dielectric material, because of the best polarization of the electrically conductive part to the potential of the electrode

- 6 measure. The capacitive detection function with an extension member comprising a conductive part makes it possible to perform a more precise capacitive detection and with a greater range.

The, or at least one, electrically conductive part can be made or comprise for example a metal, a conductive oxide (indium tin oxide, ITO), or a material (polymer) charged with conductive particles, for example metallic.

The, or at least one, conductive part can be obtained by depositing a layer of conductive material on the extension member made of dielectric material.

Alternatively or in addition, the, or at least, a conductive part can be obtained by inserting a conductive material into the thickness of the extension member.

According to yet another alternative, the extension member can be obtained by assembly by means of a dielectric or insulating material of several conductive parts, for example by gluing or by welding.

According to a particularly advantageous embodiment, at least one extension member can be produced by combining at least one electrically conductive part and at least one dielectric part, said at least one conductive part extending over at least part of the height, or the length, or of the body, of the extension member seen from the measurement electrode.

Thus, the conductive part makes it possible to extend the capacitive detection in the extension member over part or all of said extension member.

It is for example possible, thanks to this architecture, to extend the capacitive detection over a height, or distance, of the order of a centimeter or about ten centimeters in the extension member.

For at least one extension member, the electrical coupling between said extension member and the measurement electrode may be a capacitive coupling in or through a dielectric layer.

- 7 In this case, the extension member is connected by capacitive coupling with the measurement electrode. Such coupling allows rapid and very simple attachment of the extension member to the device.

For example, the extension member may be entirely made of dielectric material (s).

Alternatively or in addition, the extension member may include a dielectric bonding layer with the measuring electrode, for example, to provide a dielectric bond without an air layer. This dielectric bonding layer can also provide a capacitive coupling between the measurement electrode and a conductive layer of the extension member.

Alternatively or in addition, the measurement electrode may comprise a dielectric layer which also makes it possible to carry out a connection by capacitive coupling with the extension member. This layer may for example be the insulation or protective layer which is generally deposited on the measurement electrodes to avoid electrical short circuits with the environment.

Alternatively or in addition, the extension member can be fixed to the measurement electrode by a fixing layer of dielectric or insulating nature, such as a layer of adhesive, for example.

For at least one extension member, the electrical coupling between said extension member and the measurement electrode may be a conduction coupling, produced by electrical contact between an electrically conductive part of said extension member and said measurement electrode .

Such coupling allows a more efficient capacitive extension, allowing a capacitive detection of greater range and more precise.

Such coupling can be achieved through at least one contact, or a contact surface, made of an electrically conductive material, such as copper for example.

Such a contact, or contact surface, may extend over part or all of the wall of the extension member located opposite the measurement electrode. It can also be produced by conductive tips intended to punctually pass through the insulating or dielectric protective layer which is generally deposited on the measurement electrode.

- 8 According to an exemplary embodiment, the extension member may comprise a part, called base, located opposite or in contact with at least one measuring electrode.

For example, a layer of conductive material can be deposited on this base. Alternatively, one or more electrical contacts can be provided on this basis.

According to an exemplary embodiment, at least one extension member can be above, in particular in electrical coupling with, a single measurement electrode.

In this case, the extension member extends the capacitive detection functionality carried out by this measurement electrode.

Alternatively, or in addition, at least one extension member may be above, in particular in electrical coupling with, several measurement electrodes.

In this case, the extension member extends the capacitive detection functionality achieved by these several measurement electrodes.

For example, at least one extension member can be at the intersection of several measurement electrodes.

According to a particularly advantageous embodiment, at least one extension member may comprise several separate parts, each in electrical coupling with a separate measurement electrode.

Thus, at least one extension member can comprise several distinct parts of high relative dielectric permittivity (for example greater than 3 or 5), isolated from each other by parts of lower relative dielectric permittivity (for example less than 2 , or at 1.5, and / or including air), each in capacitive electrical coupling with a separate measurement electrode.

Likewise, at least one extension member may comprise several separate electrically conductive parts, isolated from one another, each in electrical coupling (capacitive or by contact) with a separate measurement electrode.

- 9 These separate parts may in particular extend along the body of the extension member, according to distinct angular sectors.

Thus, it is possible to determine the direction of approach and contact of an object.

In particular, the extension member may comprise several distinct parts distributed in the form of quadrants. When positioned at the intersection of four electrodes, it is thus possible to determine the direction of approach and contact of an object. Thus, when the extension member is a handle intended for example to manually control a robot, it is possible to determine a direction of movement desired by an operator from the orientation of his hand, when approaching it, or while pressing the handle.

According to one embodiment, at least one extension member can comprise an electronic module electrically referenced to a floating potential.

This electronic module can be powered for example by an electrically floating power supply, a battery, or a battery. In this case, its electronics, whose reference potential is floating relative to the earth (for example), naturally polarizes with the potential of the measurement electrodes by capacitive coupling, and does not disturb the measurements (provided that it does not generates no significant signals at the detection frequency). In addition, as long as it includes conductive surfaces, the electronic module can even contribute to the extension of the measurement area.

It should be noted that the electronic module must be electrically floating so as not to disturb the measurements.

The electronic module can also include a wireless link (bluetooth, wifi, etc.), or possibly a wired link made electrically floating at least at the detection frequency (with, for example, optocouplers).

According to a particularly advantageous embodiment, the device according to the invention can comprise at least one electrode, called a guard, arranged on the side opposite to the extension member, or to the detection zone,

- 10 with respect to the at least one measuring electrode, and polarized at a potential, called the guard potential, identical to the detection potential at the detection frequency.

Such at least one guard electrode makes it possible to electrically keep the at least one measurement electrode, and prevent it from being disturbed by other surfaces / organs of the device, and being at a potential different from the potential of detection. Thus, the range and the accuracy of the capacitive detection are improved.

In a preferred version, the capacitive detection implemented in the apparatus according to the invention can be based on the measurement / detection of a capacitive coupling signal between at least one measurement electrode and the object to be detected.

To do this, the capacitive detection electronics may include measurement electronics, digital and / or analog, on the one hand:

- provide the detection potential at the detection frequency, and the guard potential if necessary; and

- measure / detect a signal relating to the electrode-object coupling.

According to an exemplary embodiment, the measurement electronics can comprise an operational amplifier (AO), or a circuit producing an operational amplifier, operating as a transimpedance or load amplifier, of which:

a first input, for example an inverting one, is connected to one or more measuring electrodes, directly or by means of an optional scanning means for example;

- a second input, for example a non-inverting one, is connected to an oscillator providing the detection potential and the guard potential; and

- The output is looped back to said first input via an impedance, and in particular a capacitor.

In this configuration, the output of the AO supplies a voltage V _s whose amplitude is proportional to the electrode-object capacity, denoted C _eo , between at least one measurement electrode and the object.

- 11 The output of the operational amplifier can be connected, directly or indirectly, to a module for measuring the voltage V _s . This voltage measurement module V _s may include a conditioner, a demodulation such as a synchronous demodulation at the detection frequency, or an amplitude detection.

The detection electronics may further include an oscillator supplying the alternating detection potential, and the guard potential if necessary.

Advantageously, the detection electronics can be, at least in part, electrically referenced to the detection potential.

The detection electronics may further comprise at least one calculation module arranged to determine a distance or distance information, and / or a contact or contact information, between at least one measurement electrode and the object, in function of the signal relating to the coupling capacity C _eo from the conditioner.

This calculation module can for example include or be produced in the form of a microcontroller, or an FPGA.

The calculation module can also provide other information, such as triggering of alarms or of security procedures, when for example the measured distances are less than predetermined distance thresholds.

Of course, the detection electronics can include components other than those described.

The apparatus according to the invention can be in the form of a robot.

According to exemplary embodiments which are in no way limitative, the robot can be or include any robotic system. It can in particular be in the form of, or comprise, a robotic arm, mobile robot, vehicle on wheels or tracks such as a trolley provided with an arm or a manipulator system, robot of humanoid type, or gynoid , or android possibly provided with displacement organs such as limbs

- 12 The device according to the invention, in particular the robot according to the invention, can be provided with an electric line and at least one extension member for maintaining said electric line.

In particular, the extension member may include a passage opening through which the power line has passed.

In addition, the conductive part of the extension member, if necessary, can surround the passage opening so as to surround the electric line located in said passage opening.

Description of the figures and embodiments

Other advantages and characteristics will appear on examining the detailed description of nonlimiting examples, and the appended drawings in which:

- FIGURE 1 is a schematic representation of a nonlimiting exemplary embodiment of a capacitive detection electronics which can be implemented in an apparatus according to the invention;

- FIGURES 2-4 are schematic representations of nonlimiting exemplary embodiments of an extension member that can be implemented in an apparatus according to the invention;

- FIGURES 5a and 5b are schematic representations of another nonlimiting exemplary embodiment of an extension member which can be implemented in an apparatus according to the invention; and

- FIGURE 6 is a schematic representation of a non-limiting exemplary embodiment of an apparatus according to the invention.

It is understood that the embodiments which will be described below are in no way limiting. It is possible in particular to imagine variants of the invention comprising only a selection of characteristics described hereinafter isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the prior art. This selection includes at least one feature, preferably functional, without structural details, or with only part of the structural details if this part only is sufficient to confer

- 13 a technical advantage or to differentiate the invention compared to the state of the prior art.

In particular, all the variants and all the embodiments described can be combined with one another if there is nothing technically opposed to this combination.

In the figures, the elements common to several figures keep the same reference.

FIGURE 1 is a schematic representation of a nonlimiting exemplary embodiment of a capacitive detection electronics that can be implemented in a device according to the invention.

The detection electronics 100, shown in FIGURE 1, can be produced in analog or digital form, or an analog / digital combination.

The detection electronics 100 includes an oscillator 102 delivering an alternating voltage, denoted V _G , and referenced to a ground potential 104.

The voltage V _G is used as the guard potential for biasing one or more guard electrodes 106 via a line or several lines, and as the excitation potential for biasing the measurement electrodes 108i-108 _n , which can be also designated by the reference 108, or the reference 108 ,, in the following. It can be of any waveform, for example sinusoidal or square, at a frequency or a fundamental frequency corresponding to the detection frequency.

The detection electronics 100 includes a current or charge amplifier 110 represented by an operational amplifier (AO) 112 and a feedback capacity 114 looping the output of the AO 112 back to the inverting input “-” from AO 112.

Furthermore, in the example shown, the non-inverting input “+” of the AO 112 receives the voltage V _G and the inverting input “-” of the AO 112 is provided to be connected to each electrode of measurement 108, by means of a scanning means 116, which may for example be a switch, so as to interrogate the measurement electrodes 108 in turn individually.

The use of the scanning means 116 is, of course, optional.

Under these conditions, the charge amplifier 110, and in particular the AO 112, outputs a voltage V _s of amplitude proportional to the capacity.

- 14 for coupling C _eo , called electrode-object capacity, between one or more measurement electrodes 108 connected to its input “-” and an object close to, or in contact with, said measurement electrode 108.

The detection electronics 100 may further comprise a conditioner 118 making it possible to obtain a signal representative of the coupling capacity C _eo sought. This conditioner 118 may include, for example, a synchronous demodulator for demodulating the signal with respect to a carrier, at the detection frequency. The conditioner 118 may also include an asynchronous demodulator or an amplitude detector. This conditioner 118 can, of course, be produced in analog and / or digital form (microprocessor) and include any necessary means of filtering, conversion, processing, etc.

The conditioner 118 measures and supplies the value of the voltage V _s .

The detection electronics 100 may further comprise a calculation module 120 arranged to determine a distance or distance information, and / or a contact or contact information, between at least one measurement electrode 108 and an object, function of the signal relating to the coupling capacity C _eo coming from the conditioner 118.

This calculation module 120 can for example include or be produced in the form of a microcontroller, or an FPGA.

The calculation module 120 can also provide other information, such as triggering of alarms or of security procedures, when for example the measured distances are less than predetermined distance thresholds.

Of course, the detection electronics 100 may include components other than those described.

The detection electronics 100, or at least its sensitive part with the charge amplifier 110 can be referenced (or supplied by referenced electrical supplies) at the guard potential V _G , to minimize the parasitic capacitances.

The detection electronics 100 can also be referenced, more conventionally, to the ground potential 104.

Thus, when an object 122 enters the detection zone 124 of the measurement electrode (s) 108i-108 _n , this object 122 comes into capacitive coupling with at least one measurement electrode 108, which modifies the capacity seen

- 15 by this measurement electrode 108, and therefore the amplitude of the voltage V _s measured by the measurement electronics 100 connected to this measurement electrode 108.

FIGURE 2 is a schematic representation, in section along a side view, of a non-limiting embodiment of an extension member which can be implemented in an apparatus according to the invention.

The extension member 200, shown in FIGURE 2, is a support for maintaining a power line running along at least part of a device according to the invention, outside said device. The electric line can be an electric cable, one or more electric wires, disposed or not in a cable passage.

The support 200 comprises a longitudinal body produced, at least in part, with a dielectric material whose relative permittivity is high, or at least higher than that of air, in particular greater than 1.5, and preferably 2 or 3. The support 200 can for example be made with a polymer material whose relative permittivity is sufficiently high, such as polyvinyl chloride (PVC), polyurethane, polyester, polyamide, polyamide loaded with glass fibers, acrylonitrile butadiene styrene (ABS).

The support 200 has an end 202, called the end 202, for maintaining an electric line. To do this, the support 200 comprises, at the level of said holding end 202, a passage opening 204 through which the electric line has passed and is maintained.

The cable support 200 has one end 206, called the fixing end, opposite its holding end 202. This fixing end is positioned on the side of the measurement electrode (s) 108.

At this fixing end 206, the support 200 comprises a surface 208, called a support surface, designed to come opposite or in contact with at least one measurement electrode 108. In the example shown in FIGURE 2, the bearing surface 208 is in contact with a measuring electrode 108, protected by a thin layer of dielectric material.

Under these conditions, and considering that the support 200 is made of a dielectric material of high permittivity (or higher than air), the measurement electrode 108 is in capacitive coupling with said support. This capacitive coupling makes it possible to extend the detection range of the measurement electrode 108 in the vicinity of the support 200. It thus makes it possible to detect objects in its vicinity or in contact, even when these objects are outside the detection zone. direct from the measurement electrode 108. This effect is obtained in a completely passive manner, by modifying the structure and the guidance of the field lines.

In other words, the support 200 behaves like a measuring electrode, or more precisely like an extension of the measuring electrode 108.

In the example shown, optionally, the support 200 further comprises, on the side of its fixing end, one or more studs 210 bearing on an external surface of the device on either side of the measuring electrode 108.

FIGURE 3 is a schematic representation, in section according to a side view, of another nonlimiting exemplary embodiment of an extension member which can be implemented in an apparatus according to the invention.

The extension member 300, shown in FIGURE 3, is a power line support and includes all of the elements of the power line support 200 in FIGURE 2.

The support 300 further comprises a track 302, made of an electrically conductive material, inserted in or on the support 300.

The conductive track 302, can for example be made of metal, copper, or with a polymer or a paint loaded with metallic particles.

In the example shown in FIGURE 3, the conductive track 302 is present on the support surface 208, and traverses the support 300 over its entire length, from the support end 206 to the holding end 202. In addition, optionally, the conductive track 302 circles the passage opening 204.

Furthermore, in the example shown, the conductive track 302 is in electrical contact with the measurement electrode 108, so that the electrical coupling between the measurement electrode 108 and the support 300 is a coupling by conduction.

This coupling by conduction allows better electrical coupling, and therefore a better extension of the detection range of the measurement electrode 108 by the support 300. It thus makes it possible to detect objects with a greater range and greater precision.

As in the example in FIGURE 2, this effect is obtained in a completely passive manner, by modifying the structure and the guidance of the field lines.

This embodiment has the disadvantage of requiring that the measurement electrode 108 is not, or only partially, covered by an insulating protective layer. However, the electrical contact between the conductive track 302 and the measurement electrode 108 can be made on very limited surfaces, for example with pins locally passing through an insulating protective layer.

FIGURE 4 is a schematic representation, in section and in a side view, of another non-limiting embodiment of an extension member which can be implemented in an apparatus according to the invention.

The extension member 300, shown in FIGURE 4, is the power line support 300 of FIGURE 3.

In FIGURE 4, unlike the example given in FIGURE 3, the support 300, and in particular the conductive track 302, is not in electrical contact with the measurement electrode 108. Indeed, in FIGURE 4, a dielectric layer 402 is deposited between the support 300 and the measurement electrode 108. This layer 402 can be a fixing layer, or a layer of varnish, or even a protective layer of the electrode 108.

In this case, the support 300, and in particular the conductive track 302, is not in direct electrical contact with the measurement electrode 108. The electrical coupling between the measurement electrode 108 and the support 300, and in particular the conductive track 302 is a capacitive coupling. The conductive track 302 is biased at the potential of the measurement electrode 108, and is

- 18 thus comprises as a secondary measurement electrode or an extension of the measurement electrode 108.

The presence of the conductive track 302 makes it possible to improve the coupling between the support and the measurement electrode 108, in comparison with the example of FIGURE 2 for example. In addition, the presence of the conductive track 302, which polarizes at the potential of the measurement electrode 108, makes it possible to better "convey" or guide this coupling along the support 300.

In all the examples described, the extension member is a power line support. Of course, the extension member is not limited to a power line support and can be any type of extension member, such as a handle for example as illustrated below, or an extension finger capacitive detection, the function of which is to locally extend or deport the detection area of a measurement electrode.

FIGURE 5a is a schematic representation, in section according to a side view, of another nonlimiting exemplary embodiment of an extension member which can be implemented in an apparatus according to the invention.

FIGURE 5b is a schematic representation, seen from above and in section along line AA, of the example of FIGURE 5a.

The extension member 500, shown in FIGURES 5a and 5b, is a handle intended to be held or manipulated by a user, for example to orient or control an apparatus according to the invention.

The handle 500 is in a longitudinal form comprising a free end 502 and a fixing end 504, intended to come from the side of the measurement electrodes fitted to the device.

The handle 500 has four parts, or tracks, electrically conductive 506i-506 ₄ , isolated from each other. Each conductive part 506i-506 ₄ extends from the fixing end 504 to the free end 502.

The handle 500 is positioned at the intersection of four measurement electrodes 108i-108 ₄ so that each conductive part, respectively

- 19 506i-506 ₄ , is electrically coupled with a measuring electrode, respectively 108i-108 ₄ .

Thus, the conductive part 506 of the handle 500 is in electrical coupling with the measurement electrode 108, and makes it possible to extend, over the entire length of the handle 500, the capacitive detection carried out by said measurement electrode 108,.

This electrical coupling can be a capacitive coupling, through a dielectric protective layer, or a coupling by electrical contact.

In this configuration, when an object such as a hand approaches the handle 500, it is possible to determine the direction of approach and contact of said object with the handle 500.

Optionally, the handle 500 may include an electronic module 508 which performs an electronic function. In the example illustrated, this function can include a control interface with, for example, a button, a thumbwheel, and / or a force sensor intended to be actuated by an operator.

This electronic module 508 is supplied by an electrically floating power supply, such as a battery or a battery. As explained previously, in this case, it naturally polarizes at the potential of the measurement electrodes at the detection frequency and does not disturb the measurements. In addition, since it includes conductive surfaces, it can even contribute to the extension of the measurement area.

The electronic module 508 also includes a wireless link (bluetooth, wifi ...) to receive and / or transmit information.

According to variants, the conductive track 302 of the extension member 300, and / or the electrically conductive tracks 506i-506 ₄ of the extension member 500, can be made of a material with a relative dielectric permittivity high, for example greater than 3, or greater than 5. In this case, they can be integrated into a body made of a dielectric material of lower relative dielectric permittivity, for example of the order of 1 to 1.5. This body can in particular be made up of a hollow or hollow structure, to bring its relative dielectric permittivity closer to that of air.

- FIGURE 6 is a schematic representation of a nonlimiting exemplary embodiment of an apparatus according to the invention.

The apparatus 600, shown in FIGURE 6, is a robot and in particular a robotic arm such as an industrial collaborative robot working under surveillance, or in collaboration with, an operator, or even a medical robot for the purpose of intervention on a person's body, or even a personal assistance robot.

The robotic arm 600 comprises a fixed segment 602, three articulated segments 604-608 and a functional head 610 fixed to the segment 608. The functional head 610 is a clamp provided with an electric motor (not shown).

Each segment 602-608 is provided with measurement electrodes 108 for carrying out a capacitive detection of objects located in the environment of the robot 600, in particular deposited in / on the outer shell of said segment.

The robotic arm 600 comprises a line 612 for supplying the functional head 610 and / or for communicating with the functional head 610 and, a power supply and or communication module 614 connected to the line 612.

The robotic arm 600 includes four power line supports to hold the power line 612 which can be any of the supports of FIGURES 2-4. For example, the robotic arm 600 comprises four supports 300i-300 ₄ which are identical to the line support 300 of FIGURE 3.

The robotic arm 600 further includes a handle 500, which can be the handle of FIGURES 5a and 5b. The handle 500 is fixed to the segment 608 and allows a user to manipulate the robotic arm 600, and in particular to modify the position and / or the orientation of the functional head 610 and / or of any of the articulated segments 604 -608.

Of course, the invention is not limited to the examples which have just been described and numerous modifications can be made to these examples without departing from the scope of the invention.

Claims (16)

1. Apparatus (600) comprising one or more electrodes (108), called measurement electrodes, for detecting at least one object (122) in a detection zone (124), and a capacitive detection electronics (100) configured for: polarizing the measurement electrode (s) (108) at an alternating electrical potential (V _G ), called detection, different from a ground potential (104), at a frequency, called detection, and - detecting a signal (V _s ) relating to a capacitive coupling between said object (122) and at least one measurement electrode (108); said apparatus (600) further comprising at least one member (200; 300; 500), said to be of extension: - fixed to said device (600) above at least one measuring electrode (108), and - in electrical coupling with said at least one measurement electrode (108); so that said extension member (200; 300; 500) performs an extension of the capacitive detection carried out by said at least one measurement electrode (108). 2. Apparatus (600) according to claim 1, characterized in that at least one extension member (200; 300; 500) is, or comprises: - an extension finger for the capacitive detection function, - a support (200; 300) of cable or sheath, or - A handle (500) for manipulating said device (600). 3. Apparatus (600) according to any one of the preceding claims, characterized in that at least one extension member (200; 300; 500) comprises a part, in particular a body, made of at least one dielectric material with relative permittivity greater than 1.5, in particular greater than 2, or even more particularly greater than 3, or still more particularly greater than 5. 4. Apparatus (600) according to the preceding claim, characterized in that at least one extension member (200) is made entirely of dielectric material (s). 5. Apparatus (600) according to any one of claims 1 to 3, characterized in that at least one extension member (300; 500) comprises at least one part (302; 506i-506 ₄ ) conductive electricity. 6. Apparatus (600) according to the preceding claim, characterized in that at least one extension member (300; 500) is produced by association of at least one electrically conductive part (302; 506i-506 ₄ ) and at least one dielectric part, said at least one conductive part (302; 506i-506 ₄ ) extending over at least part of the height of the extension member (300; 500) seen from the electrode measuring (108). 7. Apparatus (600) according to any one of the preceding claims, characterized in that, for at least one extension member (200; 300), the electrical coupling between said extension member (200) and the electrode measurement is a capacitive coupling in or through a dielectric layer (208; 402). 8. Apparatus (600) according to any one of claims 5 or 6, characterized in that, for at least one extension member (300; 500), the electrical coupling between said extension member (300; 500) and the measurement electrode (108) is a conduction coupling, produced by electrical contact between an electrically conductive part (302; 506i-506 ₄ ) of said extension member (300; 500) and said measurement electrode (108; 108i-108 ₄ ). 9. Apparatus (600) according to any one of the preceding claims, characterized in that at least one extension member (200; 300) is above, and in electrical coupling with, a single measuring electrode (108) . 10. Apparatus (600) according to any one of the preceding claims, characterized in that at least one extension member (500) is above, - 23 and in electrical coupling with, several measurement electrodes (108i-108 ₄ ), in particular at the intersection of several measurement electrodes (IO81-IO84). 11. Apparatus (600) according to the preceding claim, characterized in that at least one extension member (500) comprises several separate parts (506i-506 ₄ ), each in electrical coupling with a separate measuring electrode (IO81- IO84). 12. Apparatus (600) according to the preceding claim, characterized in that said at least one extension member (500) comprises several separate electrically conductive parts (506i-506 ₄ ), isolated from each other, each in coupling electric with a separate measuring electrode (IO81IO84). 13. Apparatus (600) according to any one of the preceding claims, characterized in that at least one extension member (500) comprises an electronic module (508) electrically referenced to a floating potential. 14. Apparatus (600) according to any one of the preceding claims, characterized in that it comprises at least one electrode (106), called a guard, arranged on the side opposite to the extension member (200; 300; 500) relative to the at least one measuring electrode (108), and polarized at a potential (V _G ), called the guard, identical to the detection potential at the detection frequency. 15. Apparatus (600) according to any one of the preceding claims, characterized in that it is a robot in one of the following forms: robotic arm, mobile robot, vehicle on wheels or tracks, humanoid, or gynoid, or android type robot. 16. Apparatus (600) according to the preceding claim, characterized in that it comprises an electric line (612) and at least one extension member (300i300 ₄ ) for maintaining said electric line (612).