FR3083936A1 - COVERING DEVICE WITH CAPACITIVE DETECTION, AND APPARATUS PROVIDED WITH SUCH A DEVICE - Google Patents

Abstract

The invention relates to a covering device (300) for an apparatus, comprising: - a support (102), intended to equip said apparatus, and provided with capacitive measurement electrodes (108); - a covering (104), covering said support (102), and comprising a multitude of flexible covering elements (106), projecting from said support (102); and - a capacitive detection electronics (110) configured to: ▪polarize at least one measurement electrode (108) at an alternating detection potential (VG), different from a ground potential, at a detection frequency, and ▪ detecting a capacitive detection signal from at least one measurement electrode (108); so as to detect that an object touches, or sinks into, said coating (104), and before said object comes into contact with said support (102).

Description

"Dressing device with capacitive detection, and device provided with such a device"

Technical area

The present invention relates to a covering device provided with a capacitive detection, for an appliance, for example of the robot or toy type. It also relates to an apparatus provided with such a covering device.

The field of the invention is, without limitation, that of the field of robotics, in particular covering elements for robots, such as service robot, medical robot, domestic robot, collaborative robot, companion robot, robot toy, in particular in the form of a humanoid or an animal.

State of the art

We know robots representing real or imaginary creatures, or animals, and intended to be used as toys or companions.

These robots are programmed to interact with a user based on stimuli such as voice, presence or contact, for example in order to simulate behaviors, and / or establish emotional relationships with the user.

Document US 6,497,607 B1 is known, for example, which describes such a toy robot equipped with light, sound and contact sensors for interacting with a user. This toy robot is also equipped with a fur allowing a soft touch and reminding a pet.

However, in current robots, interactions with the robot are triggered by pressing, or applying pressure, on a sensitive surface equipped with sensors. As a result, current robots offer limited interaction. For example, they do not allow interaction from natural gestures, of the caress or touch type, which do not include support, or pressure applied, on a sensitive surface.

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

- 2 Another object of the invention is to provide a solution for providing a device with new possibilities of interaction, in particular possibilities of interaction of the caress or touch type, and more generally possibilities of interaction which do not require no support or contact with a sensitive surface equipped with sensors.

It is also an object of the present invention to provide a solution for providing a device with a more intuitive and more natural interaction.

Statement of the invention

At least one of these aims is achieved with a covering device for an apparatus, comprising:

- a support, provided to equip said device, and provided with capacitive electrodes, called measurement, for detecting an object located at a distance from said support;

- A covering, covering said support, and comprising a multitude of flexible, covering elements projecting from said support; and

- a capacitive detection electronics configured, or arranged, for:

polarizing at least one measurement electrode to an alternating potential, called detection potential, different from a ground potential, at a frequency, called detection frequency, and detecting a capacitive detection signal coming from at least one measurement electrode;

the detection electronics being further configured, or arranged, to detect that said object touches, or sinks into, said coating, before said object comes into contact with said support.

According to an embodiment that is in no way limitative, the detection electronics can also be configured or arranged to detect said object only when it touches, or sinks into, said coating, before said object comes into contact with said support.

Thus, the present invention provides a covering device making it possible to equip an appliance with a coating which can act as fur,

- 3 coatings, of hair, etc., while proposing a capacitive detection of an object coming into contact with said coating, or immersing itself in said coating, without however said object coming into contact with the support.

Consequently, the device according to the invention allows new possibilities of interaction, in particular possibilities of interaction of the caress or touch type, and more generally possibilities of interaction not requiring support on, or contact or of force exerted, with a sensitive surface equipped with sensors. Such interactions based on a caress or a touch are more intuitive and more natural for the users, and more generally for any living being.

The detection of touches also allows possibilities of movement, for example of a robot in its environment, by brushing against obstacles.

In addition, a device equipped with a dressing device according to the invention will have an interaction with its environment more realistic and close to that of a living being.

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 device or its environment, which can for example be an electrical ground. This ground potential can correspond to a ground potential, or to another potential connected or not to the ground potential.

- 4 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 overlap surfaces between these objects and those of the environment (or the electrodes) are large enough.

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

Advantageously, the detection electronics can be configured to ignore, or discriminate, objects which, seen from the support, are beyond the coating.

Such a configuration may consist in configuring, for a given parameter, a first threshold corresponding to the height, or to the width, of the covering. Then, the measured value of said parameter deduced from the detection signal can be compared with said first threshold and the detection electronics can report a detection only when said comparison signals a distance less than or equal to the thickness, or to the height, of the coating.

The parameter in question can be an electrical signal, or a voltage value, or a capacity value, or a capacity inverse, or a distance value, deduced from said voltage, or a distance, deduced from from the detection signal.

Of course, the information of the presence of an object which, seen from the support, is beyond the coating, if it is available, can also be used. It can for example trigger behaviors or reactions in response to the approach or proximity to an object.

Advantageously, the detection electronics can include:

- measurement electronics, connected to the measurement electrodes, and detecting the detection signal; and

- a processing unit for said detection signal.

The detection electronics, the measurement electronics and the processing unit can be analog, digital and / or comprise any combination of analog components and digital components.

The processing unit can be configured to compare the detected signal, or a value deduced from the detected signal, with a first predetermined threshold corresponding to a contact position of an object with the coating, and in particular to a corresponding distance the thickness, or the height, of said coating.

The processing unit can be implemented by a processor, an electronic chip, FPGA, etc.

According to a first version of the device according to the invention, the detection electronics can carry out a “self-capacitance” detection.

This detection technique is well known to those skilled in the art, as such. Self-capacitance detection is based on the capacitance, called electrode-object capacitance, formed between at least one measurement electrode and the object to be detected itself and includes a measurement of a signal relating to said electrode-object capacitance. .

In this first version, the detection electronics can be configured to:

- polarize the measurement electrodes at the detection potential, and

- detecting an electrical signal relating to a capacitance, called object electrode, between the object and at least one measurement electrode.

The device according to the invention can also comprise at least one electrode, called a guard, polarized at a potential, called a guard, identical to the detection potential at the detection frequency.

This guard electrode protects the measurement electrode (s) against leakage or parasitic coupling capacities, or disturbances, which may be caused by parts of the device, or of the device equipped by the device, which would not be at detection potential, at the frequency of

- 6 detection. Thus, the range and precision of capacitive detection are improved.

The guard electrode (s) can be placed under the measurement electrode (s), on the side opposite the coating.

In this first version carrying out a self-capacitance detection, the measurement electronics can comprise an operational amplifier (AO), or a circuit producing an operational amplifier, operating as a transimpedance or charge amplifier, of which:

a first input, for example an inverting one, is connected to one or more measuring electrodes, directly or by means of a 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 comprising a capacitor.

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

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 providing the alternating detection potential and the guard potential.

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

According to a second version of the device according to the invention, the detection electronics can carry out a detection in “mutualcapacitance”, or measurement of mutual capacity.

- 7 This detection technique is well known to those skilled in the art, as such. Mutual-capacitance detection is based on the capacitance, called inter-electrode capacitance, formed between a transmitting electrode and a receiving electrode. Indeed, the presence of an object nearby modifies the inter-electrode capacity, which makes it possible to detect it. Mutual-capacitance detection comprises a measurement of a signal relating to said inter-electrode capacity.

In this version, the detection electronics can be configured to:

- polarizing at least a first measurement electrode, called the emitting electrode, at the detection potential;

- Detecting at least a second measuring electrode, called the receiving electrode, an electrical signal relating to a capacitance, called the inter-electrode, between said at least one emitting electrode and said at least one receiving electrode.

In this case, a first part of the measuring electrodes can be used as emitting electrodes, and a second part of the measuring electrodes can be used as receiving electrodes.

Alternatively, each measuring electrode can be used as a transmitting electrode for a measurement, then as a receiving electrode for another measurement.

The device according to the invention can comprise at least one electrode, called the guard electrode, polarized at the potential of the receiving electrode, which, in particular, can be the ground potential.

This guard electrode protects the measurement electrodes against leakage capacities, or disturbances, which may reduce the range and the accuracy of the capacitive detection.

The guard electrode (s) can be placed under the measurement electrode (s), on the side opposite the coating.

- 8 In this second version performing mutualcapacitance detection, the measurement electronics may include an operational amplifier (AO), or a circuit producing an operational amplifier, operating as a transimpedance or charge amplifier, including:

- A first input, for example inverting, is connected to one or more receiving electrodes, directly or by means of a scanning means for example;

- a second input, for example a non-inverting one, is connected to the ground potential, or to earth; 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 , the amplitude of which is proportional to the inter-electrode capacitance between the receiving electrode and a transmitting electrode.

The output of the AO 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 comprise an oscillator supplying the alternating detection potential to the emitting electrode.

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

Detection techniques in self-capacitance, or in mutualcapacitance are widely known to those skilled in the art, as such. They are therefore not detailed further in the present application.

The covering may comprise, or be made up of, a set of independent and flexible covering elements protruding from the support, such as plumage, foliage, peeling, fur, hair, filiform elements, etc.

In particular, the coating can comprise: bristles, hair, fibers, or agglomerated fibers, spikes, leaves, feathers.

- 9 These covering elements can be of natural or synthetic origin.

The coating can also include a retaining layer supporting and / or holding the covering elements. This retaining layer may for example comprise a fabric or a surface of nonwoven material.

This retaining layer can be flexible to adapt to the shape of the support. It can thus be positioned and / or fixed, for example by gluing, on the support.

By way of nonlimiting examples, the coating can include:

- a retaining layer in the form of a fabric or a nonwoven surface supporting and maintaining a synthetic fur;

- a support layer in the form of animal skin supporting natural fur.

- a retaining layer in the form of a fabric or a nonwoven surface supporting and maintaining a hair of natural or synthetic origin;

Alternatively, the covering elements can be positioned and / or fixed, for example by gluing, directly on the support, without retaining layer.

The coating, and in particular the covering elements, may consist of, or comprise, dielectric materials.

Covering elements with a high relative dielectric permittivity (or at least greater than 1) makes it possible to improve the detection of the contact of an object with the coating. In fact, the capacitance between measurement electrodes and an object in contact with the covering elements is all the higher the higher their relative permittivity, and it decreases more quickly beyond the contact zone.

It is therefore possible to define detection thresholds reliably.

However, in practice, the covering elements have a low density, and therefore a relative permittivity close to 1. In this case, the electronics of

- 10 capacitive detection must be effective to allow the detection of objects in the thickness of these covering elements. In this case, self-capacitance type detection electronics is preferable.

The support may comprise a dielectric substrate supporting on one side the measurement electrodes, and if necessary, on the other side the guard electrodes.

This substrate may include a double-sided printed circuit or several superposed single-sided printed circuits, flexible or possibly rigid.

This substrate can also be produced in the form of a rigid or flexible part manufactured by molding or thermoforming. In this case, the electrodes can be produced by screen printing, painting, vacuum deposition, metallic deposition by projection, etc.

Overall, the support can therefore be flexible, so as to conform to the shape of a part of the device.

The support can also be rigid or flexible, and can be positioned on, or constitute, a covering element for the device.

According to exemplary embodiments, the covering device according to the invention can be in the form of: fur, skin, coat, plumage, wig, hair.

The device can be provided to cover the whole of an appliance, or only a part of the appliance, such as for example a head of an appliance, a body of an appliance, etc.

According to a particularly advantageous characteristic, the device according to the invention can comprise at least one electrode, called a polarization electrode, connected to the ground potential of the device or of the device, and designed to be coupled to a potential:

- an object in the environment of the device, or

- of the earth.

- 11 In special cases of a device with an internal power supply floating with respect to the earth, such as a battery for example, and the surface of which is largely covered by sensitive capacitive surface, there is a risk that the measuring electrodes polarized at the detection potential electrically or capacitively couple with the object to be detected so as to polarize at its potential (eg earth), resulting in the general ground potential of the electronics of the floating device adjusts accordingly to the ground. In this case the object would no longer be detected, or incorrectly.

This risk is particularly present in the case of self-capacitance detection, since all the measurement electrodes are polarized at the detection potential. It is also present in the case of mutual capacity detection.

To avoid this, the device of the invention can therefore be equipped with at least one polarization electrode polarized at the general ground potential of the device or the appliance. This or these polarization electrodes can be positioned on a surface of the device so as to capacitively couple with an approaching object, and / or the ground, and / or the electrical environment of the device.

At least one polarization electrode can be arranged in / on the support, for example near measurement electrodes.

This configuration enables effective coupling between the polarization electrode and the environment of the device, and in particular the objects to be measured.

In particular, at least one polarization electrode can be arranged at the same level as a measurement electrode.

In this case, optionally, said polarization electrode can be separated from the surrounding measurement electrode (s) by at least one guard electrode.

Alternatively, or in addition, at least one polarization electrode can be arranged at the same level as a guard electrode.

- 12 In this case, optionally, the guard electrode may preferably be larger than the measurement electrode.

In addition, still optionally, the bias electrode can be placed between two guard electrodes.

Alternatively, or in addition, at least one polarization electrode can be arranged on a surface, or in a zone, of the device equipped with a device according to the invention. In particular, at least one polarization electrode can be arranged on a surface or in an area of the device separate from the covering device.

Such an area may preferably be an area close to the ground, or an area intended to be in contact with the environment of said device.

According to another aspect of the same invention, there is provided an apparatus provided with a covering device according to the invention.

In the case where the covering device comprises one or more polarization electrodes, at least one polarization electrode can be arranged at a part of said device intended to be in contact / support with the ground.

Such a part can be a foot, a base, a wheel, a caterpillar, etc. equipping said apparatus.

The support of the covering device can be formed by a wall or a shell of the device.

Alternatively, the support of the covering device can be arranged on said device in place of a wall, or a shell, of said device.

According to yet another alternative, the support of the covering device can be arranged on a wall, or a shell, of said device.

In all cases, the support can be fixed on the device in a removable or removable manner.

According to exemplary embodiments, the device according to the invention can be a robot in one of the following forms:

- robotic arm,

- mobile robot,

- vehicle on wheels or tracks,

- robot type humanoid, gynoid, android,

- animal-type robot, real or imaginary,

- companion robot,

- toy robot.

According to exemplary embodiments which are in no way limitative, the robot can be or include any robotized system or of the automaton type.

The robot can be, or comprise, for example a mobile robot, a vehicle on wheels or tracks.

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:

- FIGURES 1-5 are schematic representations of different non-limiting exemplary embodiments of a covering device according to the invention;

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

- FIGURE 7 is a schematic representation of a first non-limiting example of detection electronics that can be implemented in a covering device according to the invention; and

- FIGURE 8 is a schematic representation of a second example of a detection electronics that can be implemented in a covering device according to the invention.

It is understood that the embodiments which will be described below are in no way limiting. One can in particular imagine variants of the invention comprising only a selection of characteristics described below isolated from the other characteristics described, if this

- 14 selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection comprises at least one preferably functional characteristic without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from 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 first non-limiting embodiment of a covering device according to the invention.

The device 100, shown in FIGURE 1, comprises a support 102, made of a dielectric material.

The support 102 can be flexible, and produced for example with a flexible printed circuit substrate, for example made of polyimide.

The support 102 can also be rigid, and produced by thermoforming or molding. It may be an existing support on a robot type device, such as a wall or a shell of said device. Alternatively, the support 102 can be attached in place of, or on, a shell of a robot-type device.

The device 100 further comprises a dielectric coating 104, arranged on the support 102.

The coating 104 is flexible, or flexible, so that an object can sink into said coating 104 without providing effort or with very little effort.

The covering 104 is produced by a multitude of independent covering elements 106. Each covering element 106 can be in the form of a feather, a sheet, a fiber, agglomerated fibers, a picot, a hair, a hair, or any other element of filiform covering. Thus the covering elements 106 can move apart to allow the object to pass, which gives the covering 104 its flexibility.

Each covering element 106 is made of a dielectric material. The covering elements may be integral with an optional retaining layer (not shown), also made of dielectric material.

The covering device 100 comprises one or more measuring electrodes 108i-108 ₂ used for carrying out a capacitive object detection. In the example shown, and in no way limiting, the device 100 comprises two measurement electrodes IO81 and 108 ₂ . These electrodes can be designated by the reference 108 or 108, below. Of course, the number of measurement electrodes is not limited to two.

According to a first version, the measurement electrodes 108 can be used to carry out a capacitive detection, called self-capacitance, based on the detection of a capacitance, called object-electrode, and denoted C _eo in the present application, formed between one or more measurement electrodes 108 and an object.

According to a second version, the measurement electrodes 108 can be used to carry out a capacitive detection, known as mutualcapacitance, based on the detection of a capacity, known as inter-electrode, and denoted C _ee in the present application, formed between two electrodes 108, one used as the emitting electrode and the other used as the receiving electrode. This capacity C _ee is modified by the presence of an object nearby.

A nonlimiting example, for each of these two versions of capacitive detection, will be described below with reference to FIGURES 7 and 8.

The covering device 100 further comprises a capacitive detection electronics 110 for:

polarizing at least one measuring electrode 108 at an alternating potential, called a detection potential, different from a ground potential, at a frequency, called a detection potential, and

- detecting a capacitive detection signal coming from at least one measurement electrode;

The capacitive detection electronics 110 are also arranged to detect an object only when it touches, or sinks into, the covering 104, before said object comes into contact with the support 102,

- 16 or in other words to detect that an object touches, or sinks into, said coating 104.

To do this, the detection electronics 110 comprises a measurement electronics 112 which polarizes the measurement electrode (s) 108 at the detection potential, and detects a signal relating to the capacity sought, namely, the electrode-object capacity C _eo , ie the inter-electrode capacity C _ee ·

The detection electronics 110 also includes a processing unit 114 connected to the measurement electronics 112. The processing unit 114 is configured to compare the signal detected / measured by the measurement electronics, or a value deduced from of said signal, at a first predetermined threshold corresponding to a position of contact of an object with the coating 106. In other words, the processing unit 114 determines whether the object is at a distance, measured from the support 102, less or equal to the height 116 of the covering 104.

If this is not the case, the detection electronics 110 ignore the object and do not emit a signal informing the presence of an object. If this is the case, the detection electronics 110 emits a signal informing the presence of an object in contact with, or in, the coating 104.

Thus, the covering device 100 realizes an object only when said object touches or sinks into the covering 104, and not before.

Alternatively, the measurement electronics 112 can be configured so that its measurement sensitivity is limited to the detection of objects which are at a distance, measured from the support 102, less than or equal to the height 116 of the covering 104. In in this case, the processing unit 114 can be simplified in the sense that it can be configured to compare the signal detected / measured by the measurement electronics, or a value deduced from said signal, with a noise threshold of l electronics or residual capacity.

As explained above, the presence of covering elements 106 with a high dielectric permittivity (or at least greater than 1) makes it possible to improve the detection of the contact of an object with the coating 104 by allowing the definition of reliable thresholds, due to the rapid variation in

- 17 coupling capacity between this object and the measurement electrodes 108 when the object is no longer in contact with the covering elements 106.

Optionally, the processing unit 114 can also be configured to compare the signal detected / measured by the measurement electronics 112, or a value deduced from said signal, with a second predetermined threshold corresponding to contact with the support. 102 so as to detect the contact of an object with said support 102.

FIGURE 2 is a schematic representation of a second non-limiting embodiment of a covering device according to the invention.

The covering device 200, shown in FIGURE 2, includes all the elements of the device 100 in FIGURE 1.

The device 200 further comprises at least one electrode 202, called the guard electrode, provided for electrically keeping the measurement electrodes 108 and avoiding the parasitic coupling capacities which disturb the capacitive detection and degrade their precision and range.

The guard electrode 202 is disposed on the side opposite the coating 104 relative to the measurement electrodes 108.

The guard electrode 202 is connected to the detection electronics 110 so that the latter polarizes said guard electrode 202 to the desired potential as a function of the capacitive detection technique used:

- When the capacitive detection is a self-capacitance detection, the guard electrode 202 is polarized at a potential, called the guard potential, identical to the detection potential at the detection frequency;

- When the capacitive detection is a mutualcapacitance detection, the guard electrode 202 is polarized at the potential of the receiving electrode, and in particular at the ground potential.

FIGURE 3 is a schematic representation of a third non-limiting embodiment of a covering device according to the invention.

- 18 The covering device 300, shown in FIGURE 3, includes all the elements of the device 200 in FIGURE 2.

The device 300 also comprises at least one electrode 302, called the polarization electrode, polarized at the general ground potential of an apparatus / robot equipped by the covering device 300, and arranged so as to be capacitively coupled with:

- an object on approach, and / or

- the earth, and / or

- the electrical environment of the device.

Indeed, in the particular case of a mobile robot whose surface is largely covered by sensitive capacitive surface and which includes an autonomous electrical supply, there is a risk that the object is essentially coupled with the detection potential ( or more precisely that the detection potential adjusts to that of the object) and that the ground potential of the electronics of the device, floating, adjusts accordingly with respect to the earth. In this case the object would no longer be detected.

The polarization electrode (s) 302 make it possible to avoid this phenomenon by making it possible to couple the general ground potential of the device or the robot to the potential of the environment and / or of the earth.

FIGURE 4 is a schematic representation of a fourth non-limiting embodiment of a covering device according to the invention.

The covering device 400, shown in FIGURE 4, includes all the elements of the device 300 in FIGURE 3.

Unlike the device 300, the device 400 comprises two guard electrodes 202i and 202 ₂ .

In addition, the polarization electrode 302 is positioned at the same level as the guard electrodes 202i and 202 ₂ , and in particular between said two guard electrodes 202i and 202 ₂ .

In this case, the guard electrodes 202i and 202 ₂ , respectively keeping the measurement electrodes 108i and 108 ₂ , are larger than said measurement electrodes, respectively 108i and 108 ₂ in order to avoid excessive parasitic couplings between these measurement electrodes and the bias electrode 302.

- 19 FIGURE 5 is a schematic representation of a fifth non-limiting exemplary embodiment of a covering device according to the invention.

The covering device 500, shown in FIGURE 5, includes all the elements of the device 400 in FIGURE 4.

Unlike the device 400, in the device 500, only a measurement electrode 108 ₂ is shown.

In addition, the polarization electrode 302 is positioned at the same level as the measurement electrode (s) 108. In this case, the measurement electrode IO82 is preferably separated from the polarization electrode 302 by a guard electrode, for example the guard electrode 202i, to avoid excessive parasitic couplings between the measurement electrode 108 ₂ and the bias electrode 302.

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 in the shape of an animal.

The robot 600 has a head 602, a body 604 and four feet 606 allowing said robot 600 to move.

The robot 600 is equipped with a coating 608 in the form of a fur 608, arranged on a part of the body 604, as illustrated, or on the entire body.

The fur 608 can be attached to the body 604 in a removable or removable manner. It may comprise a retaining layer, for example of fabric sewn so as to have the desired shape, and supporting the covering elements 106 in the form of the hairs of the fur.

The support 102 with the measurement electrodes can be part of the surface of the robot 600.

The fur 608 can be formed by any of the covering devices of FIGURES 1 to 5.

- In particular, the fur 608 is formed by the covering device 300 of FIGURE 3. The polarization electrode (s) 302 of the device 300 are arranged at one or more feet 606 which are in contact with floor.

We will now describe two capacitive detection techniques that can be used in a device according to the invention, with reference to FIGURES 7 and 8.

FIGURE 7 is a schematic representation of a first nonlimiting exemplary embodiment of a capacitive detection electronics that can be implemented in the device according to the invention.

The detection electronics 700, shown in FIGURE 7, may be the detection electronics 110 of any of the devices in FIGURES 1-6.

The detection electronics 700 are used to carry out a detection, known as “self-capacitance”, based on the electrode-object capacitance C _eo formed between a measurement electrode 108 and the object.

The detection electronics 700 can be produced in analog or digital form, or an analog / digital combination.

The detection electronics 700 comprises an oscillator 702 delivering an alternating voltage, denoted V _G , and referenced to a general ground potential M.

The voltage V _G is used as the guard potential for biasing the guard electrode (s) 202, and as the excitation potential for biasing the measurement electrodes 108. It can be of sinusoidal shape, or any other waveform ( square, ...). Its frequency (or its fundamental frequency) corresponds to the detection frequency.

The detection electronics 700 comprises a measurement electronics 112 comprising a current or charge amplifier 704 represented by an operational amplifier (AO) 706 and a feedback capacity 708 looping the output of the AO 706 back to the 'inverting input' - 'of AO 706.

In addition, in the example shown, the non-inverting input “+” of the AO 706 receives the voltage V _G and the inverting input “-” of the AO 706 is connected

- 21 to each measurement electrode 108 via an optional scanning means 710, which may for example be a switch, so as to interrogate the measurement electrodes 108 in turn individually. This switch 710 is configured so that the measurement electrodes 108 are connected either to the AO 706 or to the guard potential V _G.

Under these conditions, the charge amplifier 704, and in particular the AO 706, outputs a voltage V _s of amplitude proportional to the electrode-object coupling capacitance C _eo 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 measurement electronics 112 may further comprise a conditioner 712 making it possible to obtain a signal representative of the coupling capacity C _eo sought. This conditioner 712 can comprise, for example, a synchronous demodulator for demodulating the signal with respect to a carrier, at the detection frequency. The conditioner 712 can also include an asynchronous demodulator or an amplitude detector. This conditioner 712 can, of course, be produced in analog and / or digital form (microprocessor) and include any necessary means of filtering, conversion, processing, etc.

The conditioner 712 measures and supplies the value of the voltage V _s .

The measurement electronics 112 may also include a calculation module 714 arranged to determine:

- the value of the capacity C _eo , or

- a distance between at least one measuring electrode 108 and the object;

as a function of the value of the voltage V _s supplied by the conditioner 712.

This calculation module 714 can for example comprise, or be produced in the form of, a microcontroller or an FPGA.

Of course, the detection electronics 700 may include components other than those described.

The detection electronics 700, or at least its sensitive part with the charge amplifier 704 can be referenced (or supplied by referenced electrical supplies) at the guard potential V _G , to minimize the parasitic capacitances.

- 22 The detection electronics 700 can also be referenced, in a more conventional manner, to the ground potential M.

When one or more bias electrodes 302 are used, these are biased at ground potential M directly, or by the detection electronics 700 as shown in FIGURE 7.

FIGURE 8 is a schematic representation of a second non-limiting embodiment of a capacitive detection electronics that can be implemented in the device according to the invention.

The detection electronics 800, shown in FIGURE 8, may be the detection electronics 110 of any of the devices in FIGURES 1-6.

The detection electronics 800 are used to carry out a detection, known as “mutual-capacitance”, based on the measurement of the interelectrode capacitance C _ee , formed between a first measurement electrode, called the emitting electrode, for example the electrode of measurement 108i and a second measurement electrode, called the receiving electrode, for example the measurement electrode 108 ₂ .

The detection electronics 800 can be produced in analog or digital form, or an analog / digital combination.

The detection electronics 800 comprises the oscillator 702, referenced to the general ground potential M, delivering an alternating voltage, denoted V _G , to the emitting electrode 108i by means of a scanning means 802, optional, and which can for example be a switch, so as to polarize individually in turn several emitting electrodes at the potential V _G. This potential V _G can be of sinusoidal shape, or of any other waveform (square, ...). Its frequency (or its fundamental frequency) corresponds to the detection frequency.

The detection electronics 800 includes the measurement electronics 112 comprising the current or charge amplifier 704 represented by the operational amplifier (AO) 706 and the feedback capacity 708 looping the output of the AO 706 at the inverting input "-" of the AO 706.

In the example shown in FIGURE 8, the non-inverting input "+" of the AO 706 is connected to the mase potential M and the inverting input "" of the AO 706 is intended to be connected to the 108 receiving electrode ₂ per

- 23 via the optional polling means 710, which can for example be a switch, so as to interrogate individually in turn several receiving electrodes.

The detection electronics 800 operate in the following manner.

The measurement electrode 108i is polarized at the potential V _G and is used as the emitting electrode. The electrode 108 ₂ is used as the receiving electrode and is connected to the inverting input of the charge amplifier 704, and in particular the AO 706.

Under these conditions, the charge amplifier 704 supplies at output a voltage V _s of amplitude proportional to the inter-electrode capacity C _ee between the emitting electrode 108i and the receiving electrode 108 ₂ : this capacity varies as a function of the presence or absence of an object near the electrodes 108i108 ₂ .

The functions of the measurement electrodes 108 can be fixed so that each measurement electrode is used either as the emitting electrode or as the receiving electrode. Alternatively, each measurement electrode 108 can be used as the emitting electrode and then as the receiving electrode, in turn.

The detection electronics 800 further includes the conditioner 712 and the calculation module 714, described above.

Of course, the detection electronics 800 may include components other than those described.

When one or more guard electrodes 202 are used, these are biased to the ground potential M directly, or via the detection electronics 800, as shown in FIGURE 8.

When one or more polarization electrodes 302 are used, these are polarized at ground potential M directly, or via the detection electronics 800 as shown in FIGURE 8.

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 (18)

1. Dressing device (100; 200; 300; 400; 500) for an apparatus (600), comprising: - a support (102), provided to equip said device (600), and provided with capacitive electrodes (108), called measurement, for detecting an object located at a distance from said support (102); - a covering (104), covering said support (102), and comprising a multitude of flexible covering elements (106), projecting from said support (102); and - a capacitive detection electronics (110; 700; 800) configured, or arranged, for: polarize at least one measuring electrode (108) at an alternating potential (V _G ), called detection, different from a ground potential (M), at a frequency, called detection, and detect a capacitive detection signal originating at least one measurement electrode (108); said capacitive detection electronics (110; 700; 800) being further configured, or arranged, to detect that said object touches, or sinks into, said coating (104), before said object comes into contact with said support ( 102). 2. Device (100; 200; 300; 400; 500) according to the preceding claim, characterized in that the detection electronics (110; 700; 800) is configured to ignore, or discriminate, objects which, seen from the support (102), are located beyond the covering (104). 3. Device (100; 200; 300; 400; 500) according to any one of the preceding claims, characterized in that the detection electronics (110; 700; 800) comprises: - measurement electronics (112), connected to the measurement electrodes (108), and detecting the detection signal; and - a processing unit (114) of said detection signal. 4. Device (100; 200; 300; 400; 500) according to claims 2 and 3, characterized in that the processing unit (114) is configured to compare the detected signal, or a value deduced from the detected signal , at a first predetermined threshold corresponding to a position of contact of an object with the coating (104), and in particular at a distance corresponding to the thickness of said coating (104). 5. Device (100; 200; 300; 400; 500) according to any one of the preceding claims, characterized in that the detection electronics (700) is configured for: - polarize the measurement electrodes (108) at the detection potential (V _G ), and - detecting an electrical signal relating to a capacitance, called object electrode, between the object and at least one measuring electrode (108). 6. Device (200; 300; 400; 500) according to the preceding claim, characterized in that it further comprises at least one electrode (202), called the guard, polarized at a potential (V _G ), called the guard , identical to the detection potential at the detection frequency. 7. Device (100; 200; 300; 400; 500) according to any one of claims 1 to 4, characterized in that the detection electronics (800) is configured for: - polarizing at least a first measurement electrode (108i), called the emitting electrode, at the detection potential (V _G ); - Detecting at least a second measurement electrode (108 ₂ ), called the receiving electrode, an electrical signal relating to a capacity, called the inter-electrode, between said at least one emitting electrode (IO81) and said at least one receiving electrode (IO81). 8. Device (100; 200; 300; 400; 500) according to any one of the preceding claims, characterized in that the coating (104) comprises bristles, hair, fibers, or agglomerated fibers, or alternatively pimples. 9. Device (100; 200; 300; 400; 500) according to any one of the preceding claims, characterized in that the coating (104) consists of dielectric material (s). 10. Device (100; 200; 300; 400; 500) according to any one of the preceding claims, characterized in that it is in the form of: fur, skin, coat, plumage, wig, hair. 11. Device (300; 400; 500) according to any one of the preceding claims, characterized in that it comprises at least one electrode (302), called of polarization, connected to the ground potential (M) of said device or of the device, and intended to be coupled to a potential: - an object in the environment of the device, or - of the earth. 12. Device (400; 500) according to the preceding claim, characterized in that at least one polarization electrode (302) is arranged in / on the support (102). 13. Device (500) according to any one of claims 11 or 12, characterized in that at least one polarization electrode (302) is arranged at the same level as a measurement electrode (108 ₂ ). 14. Device (400) according to claim 6 and any one of claims 11 to 13, characterized in that at least one polarization electrode (302) is arranged at the same level as a guard electrode (202). 15. Apparatus (600) provided with a covering device (608) according to any one of the preceding claims. 16. Apparatus (600) according to the preceding claim, characterized in that it comprises a covering device (608) according to any one of claims 11 to 14, and in that at least one polarization electrode - 27 (302) is arranged at a part (606) of said device (600) intended to be in contact / support with the ground of said device (600). 17. Apparatus (600) according to any one of claims 15 or 16, characterized in that the support (102) of the covering device (608): - Is formed by a wall or a shell of said device (600); - Is arranged on said device (600) in place of a wall, or a shell, of said device (600); or - Is arranged on a wall, or a shell, of said device (600). 18. Apparatus (600) according to any one of claims 15 to 17, characterized in that it is a robot having one of the following forms: - robotic arm, - mobile robot, - vehicle on wheels or tracks, - robot type humanoid, gynoid, android, - animal-type robot, real or imaginary, - companion robot, - toy robot.