Robot equipped with capacitive detection means and item(s) referenced to a guard potential

Abstract

The invention relates to a robot including capacitive detection electrodes, at least one means of electrical polarization for polarizing the measurement electrodes at a first alternating electrical potential different from a general ground potential (MG), at a frequency, called working frequency. The robot is characterized in that, for at least one sub-part, called fitted-out the outer wall of which is at least partially non-electrically conductive, said at least one polarization means is also arranged in order to electrically guard the electrical items of said fitted-out sub-part at an alternating electrical potential (V.sub.G), called guard potential, identical or substantially identical to said first potential, at said working frequency.

Claims

1. A robot comprising one or more sub-part(s), at least one of which, called fitted-out sub-part, comprising at least one electrical item placed in said sub-part, said robot also comprising: for at least one sub-part, called equipped, at least one capacitive detection electrode, called measurement electrode, placed on, or in, an outer wall of said sub-part, at least one means of electrical polarization for polarizing said at least one measurement electrode at a first alternating electrical potential different from a general ground potential (MG), at a frequency, called working frequency, and at least one electronic unit, called detection unit, for measuring a signal relative to a coupling capacitance, called electrode-object capacitance, between the at least one measurement electrode and a nearby object (OP); characterized in that, for at least one fitted-out sub-part the outer wall of which is at least partially non-electrically conductive, said at least one polarization means is also arranged in order to electrically guard at least one electrical item of said fitted-out sub-part at an alternating electrical potential (V.sub.G), called guard potential, identical or substantially identical to said first potential, at said working frequency.

2. The robot according to claim 1, characterized in that at least one fitted-out sub-part, at least one electrical item of which is electrically guarded at the guard potential (V.sub.G) comprises a guard volume or walls: placed around said at least one electrical item, and polarized at the guard potential (V.sub.G) by the at least one polarization means.

3. The robot according to claim 1, characterized in that it comprises, in at least one fitted-out sub-part, at least one electrical item electrically polarized at, or referenced to, the guard potential (VG) by the at least one polarization means, so as to be electrically guarded at the guard potential (VG).

4. The robot according to claim 3, characterized in that it comprises, for at least one electrical item (Mo) at least one electrical converter arranged to: receive at least one electrical signal, called input signal, such as a supply or control signal, intended for said at least one electrical element (Mo), and reference said input signal to the guard potential (V.sub.G); and/or receive at least one electrical signal, called output signal, transmitted by said at least one electrical item (Mo), and reference said output signal to the electrical ground potential (MG) of a controller for which it is intended.

5. The robot according to claim 4, characterized in that the electrical converter comprises: at least one supply with galvanic isolation, such as a DC/DC converter, in particular for generating a supply input signal for said at least one electrical item (Mo); at least one electrical interface without galvanic contact, of the capacitive type or by opto-coupler, for at least one input control signal, or at least one output signal; one or more high-impedance inductors for receiving and transmitting at least one input signal or at least one output signal; and/or at least one capacitor-commutated charge-transfer or charge-pump converter.

6. The robot according to claim 1, characterized in that at least one fitted-out sub-part, at least one item of which is guarded at the guard potential (V.sub.G), is not an equipped sub-part.

7. The robot according to claim 1, characterized in that at least one fitted-out sub-part, at least one item of which is guarded at the guard potential, is an equipped sub-part.

8. The robot according to claim 1, characterized in that it comprises at least one sub-part, the outer wall of which is at least partially electrically conductive.

9. The robot according to claim 8, characterized in that at least one conductive part of the outer wall of a sub-part is polarized at the guard potential (V.sub.G) by at least one polarization means.

10. The robot according to claim 8, characterized in that it comprises at least one sub-part, the outer wall of which is at least partially electrically conductive, is equipped with measurement electrodes.

11. The robot according to claim 1, characterized in that at least one sub-part of said robot is: a segment of said robot, or a mechanical interface, articulated or not articulated, between at least two segments of said robot, or a functional head, articulated or not articulated, forming a tool, or a tool head.

12. The robot according to claim 1, characterized in that it comprises a functional head formed by a sub-part, said functional head forming a capacitive detection electrode, the at least one polarization means also being arranged to polarize said functional head at the first alternating electrical potential, and the at least one electronic detection unit being arranged in order to measure a signal relating to a coupling capacitance between said functional head and a nearby object (OP).

13. The robot according to claim 12, characterized in that it comprises at least one electrical item (Mo) arranged in the functional head, and for at least one item, a guard volume or walls, placed around said at least one item (Mo).

14. The robot according to claim 13, characterized in that it comprises, in the functional head, at least one electrical item electrically polarized at, or referenced to, the guard potential (V.sub.G) by the at least one polarization means, so as to be electrically guarded at the guard potential (V.sub.G).

15. The robot according to claim 1, characterized in that all of the electrical items arranged in said robot are electrically guarded at the guard potential (V.sub.G).

16. The robot according to claim 1, characterized in that it has one of the following forms: robotized arm, mobile robot, vehicle on wheels or tracks, robot of the humanoid, or gynoid or android type.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Other advantages and characteristics will become apparent on reading the detailed description of non-limitative examples and from the attached drawings in which:

(2) FIG. 1 is a diagrammatic representation of an example robot of the prior art equipped with capacitive detection electrodes;

(3) FIGS. 2-5 are diagrammatic representations of different embodiments of a robot according to the invention;

(4) FIGS. 6-11 are partial diagrammatic representations of different examples of a functional head with which a robot according to the invention can be equipped; and

(5) FIG. 12 is a diagrammatic representation of an embodiment of an electronic detection unit that can be utilized in a robot according to the invention.

DETAILED DESCRIPTION

(6) It is well understood that the embodiments that will be described hereinafter are in no way limitative. In particular, variants of the invention may be envisaged comprising only a selection of the characteristics described hereinafter, in isolation from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention with respect to 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 alone is sufficient to confer a technical advantage or to differentiate the invention with respect to the state of the prior art.

(7) In particular, all the variants and all the embodiments described may be combined together if there is no objection to such combination from a technical point of view.

(8) In the figures, elements that are common to several figures retain the same reference.

(9) FIG. 1 is a diagrammatic representation of an embodiment of a robot of the prior art equipped with capacitive detection electrodes.

(10) The robotized arm 100 can be, for example, an industrial collaborative robot working under the supervision of, or in collaboration with, an operator OP, or also a medical robot in the case of a surgical operation on the body of a person, or also a personal assistance robot.

(11) The robot 100, shown in FIG. 1, is presented in the form of an articulated robotized arm comprising eight sub-parts 102-116, namely: four segments 102, 104, 106 and 108; a functional head 110; and three mechanical interfaces 112, 114 and 116.

(12) Segment 102 is the base segment fastened to a support S, which can be the ground. The segment 108 is the segment located on the side of a free end of the robot 100. Each segment 102-108 is delimited by an outer wall or casing, respectively 102.sub.1-108.sub.1, produced by the surface of an element of the structure of the segment, or by one or more cover elements, for example made from plastic material (polymer) or metal(s). Generally, each segment 102-108 is hollow and enables electrical or electronic items to be placed in said segment.

(13) The functional head 110 is located on the side of the segment 108, and forms a tool or a tool-holder, which in the example shown is a gripper.

(14) Segments 102-108 are articulated by means of the articulated mechanical interfaces 112-116, also called articulations hereinafter. Articulation 112 is located between segments 102 and 104, articulation 114 is located between segments 104 and 106, and articulation 116 is located between segments 106 and 108. Each segment 112-116 comprises an outer wall or casing, respectively 112.sub.1-116.sub.1, produced from one or more cover elements, for example made from plastic material (polymer) or metal(s).

(15) Each of the articulations 112-116 is an articulation rotating about an axis. Alternatively, at least 112-116 can, additionally or instead, be a translational articulation, and/or a rotational articulation with several axes.

(16) The articulated segments 106 and 108 are equipped with one or more capacitive detection electrodes 118, called measurement electrodes. Each measurement electrode 118 with which the segment 106 is equipped, respectively the segment 108, is electrically isolated from the outer wall 106.sub.1, respectively 108.sub.1, of this segment.

(17) An electronic module 120 is associated with the robot 100. This electronic module 120 comprises: an electronic polarization unit polarizing each measurement electrode 118 at a first alternating potential, different from a general ground potential (MG), at a non-zero working frequency; and an electronic measurement unit for measuring an electrical signal, in particular an electric current, for each of the measurement electrodes 118 in order to deduce therefrom a capacitance, called electrode-object capacitance, resulting from a capacitive coupling between the measurement electrode and an object in its vicinity electrically polarized at the ground potential (MG) or at least at a potential different from the first alternating potential, and representative of a distance between said measurement electrode 118 and a nearby object.

(18) An example of module 120 will be described below with reference to FIG. 12.

(19) Each measurement electrode 118 is also preferably guarded by an electrode, called guard electrode (not shown) polarized by an alternating guard potential, denoted V.sub.G, identical or substantially identical to the first potential at the working frequency, and placed along the rear face of the electrode, for example between the wall of the segment and the measurement electrode 118.

(20) Thus, the robot 100 can detect an object located in its environment by means of the measurement electrodes 118.

(21) In the example shown, each articulation 112-116 comprises a motor, respectively 112.sub.2-116.sub.2. When one of the articulations 112-114 comprises an outer casing 112.sub.1-116.sub.1 that is electrically non-conductive, in certain configurations, the measurement electrodes 118 also detect the motor 112.sub.2-114.sub.2 located in this articulation. In fact, as each electric motor 112.sub.2-114.sub.2 is referenced to a general ground potential (MG), thus it is detected as being an external object, similarly to the operator OP. For example, when one of the equipped segments 106 or 108, come close to the articulation 112, respectively 114 or 116, then the measurement electrodes 118 equipping this segment detect the motor 112.sub.2, respectively 114.sub.2 or 116.sub.2, located in this articulation as being a nearby object, when this is not the case.

(22) In addition, in the example shown, segment 104 comprises an electronic module 104.sub.2 referenced to a general ground potential (MG). If the segment 104 comprises an outer casing 104.sub.1 that is electrically non-conductive, in certain configurations, the measurement electrodes 118 also detect the electronic module 104.sub.2 located in this segment 104. In fact, as the electronic module 104.sub.2 is referenced to a general ground potential (MG), thus it is detected as being an external object, similarly to the operator OP. For example, when one of the equipped segments 106 or 108 comes close to the segment 104, then the measurement electrodes 118 equipping this segment detect the electronic module 104.sub.2 located in this segment 104 as being a nearby object, when this is not the case.

(23) These self-detections reduce the operational range of the robot 100 and detract from its functionality.

(24) In order to overcome these drawbacks, the invention proposes to guard at an alternating guard potential V.sub.G identical, or substantially identical, to the first potential at the working frequency, at least one electrical item located in a sub-part of the robot, the external casing of which is not electrically conductive.

(25) FIG. 2 is a diagrammatic representation of a non-limitative embodiment of a robot according to the invention.

(26) The robot 200, shown in FIG. 2, comprises all the elements of the robot 100 in FIG. 1.

(27) In the example shown in FIG. 2, it is assumed that the casing 104.sub.1 of the segment 104 is electrically non-conductive. Similarly, it is assumed that the casing 114.sub.1 of the articulation 114 is electrically non-conductive.

(28) In the robot 200, the electrical module 104.sub.2, referenced to a general electrical ground potential MG, as well as its electrical connectors are placed in a guard volume 202, polarized at a guard potential V.sub.G identical, or substantially identical, to the first alternating potential at the working frequency. Thus, the electronic module 1042 and the connectors that are associated therewith, are not visible to the measurement electrodes 118 and do not interfere with the capacitive detection carried out by said measurement electrodes 118 while continuing to receive/transmit, electrical signals referenced to the general ground potential MG from/to a controller, or a device, 204.

(29) Similarly, in the robot 200, the electric motor 114.sub.2, referenced to a general electrical ground potential MG, as well as its electrical connectors and its electronic unit, are placed in a guard volume 206, polarized at a guard potential V.sub.G identical, or substantially identical, to the first alternating potential at the working frequency. Thus, the electric motor 114.sub.2, its connectors and its electronic unit are not visible to the measurement electrodes 118 and do not interfere with the capacitive detection carried out by said measurement electrodes 118 while continuing to receive/transmit, electrical signals referenced to the general ground potential MG from/to a controller 208.

(30) As for the motor 114.sub.2, it is also possible to place the electric motor 112.sub.2, respectively 116.sub.2 (as well as its electrical connectors and electronic unit) in a guard volume arranged in the articulation 112, respectively 116, if the casing 112.sub.1, respectively 116.sub.1, of this articulation is electrically non-conductive, or insulating.

(31) In general, all of the items, placed in the robot 200, can be arranged in a guard volume polarized at the guard potential, in particular when these items are arranged in a sub-part the casing of which is not electrically conductive.

(32) The guard volumes are made for example from a set of conductive walls polarized at the guard potential V.sub.G and surrounding respectively the electric motors or the electrical modules.

(33) FIG. 3 is a diagrammatic representation of a non-limitative embodiment of the robot according to the invention.

(34) The robot 300, shown in FIG. 3, comprises all the elements of the robot 100 in FIG. 1.

(35) In the example shown in FIG. 3, it is assumed that the casing 104.sub.1 of the segment 104 is electrically non-conductive, or insulating. Similarly, it is assumed that the casing 114.sub.1 of the articulation 114 is electrically non-conductive, or insulating.

(36) In the robot 300, instead of the guard volume 202 in FIG. 2, a potential converter 302 is used. This converter 302 is placed between the controller 204 and the electronic module 104.sub.2. The function of this converter 302 is to: receive at least one electrical signal, called input signal, such as a supply or control signal, transmitted by the controller 204 and intended for the module 104.sub.2, and reference said input signal to the guard potential (V.sub.G); and receive at least one electrical signal, called output signal, transmitted by said module 104.sub.2, and intended for said controller 204 and reference said output signal to the general ground potential MG of the controller 204.

(37) Thus the electronic module 104.sub.2, as well as the connectors that are associated therewith, receive and transmit signals referenced to the guard potential V.sub.G and do not interfere with the detection electrodes of the robot 300.

(38) Similarly, instead of the guard volume 206 in FIG. 2, a potential converter 304 is used. This converter 304 is placed between the controller 208 and the electric motor 114.sub.2. The function of this converter 304 is to: receive at least one electrical signal, called input signal, such as a supply or control signal, transmitted by the controller 208 and intended for said electric motor 114.sub.2, and reference said input signal to the guard potential (V.sub.G); and receive at least one electrical signal, called output signal, transmitted by said electric motor 114.sub.2, and intended for said controller 208 and reference said output signal to the general ground potential MG of the controller 208.

(39) Thus the electric motor 1142, as well as the connectors and the electronic unit that are associated therewith, receive and transmit signals referenced to the guard potential V.sub.G and do not interfere with the detection electrodes of the robot 300.

(40) As for the motor 114.sub.2, it is also possible to use a potential converter for the electric motor 112.sub.2, respectively 116.sub.2 (as well as its electrical connectors and electronic unit) if the casing 112.sub.1, respectively 116.sub.1, of this articulation is insulating.

(41) In general, all of the items, arranged in the robot 300, can be associated with a potential converter, in particular when these items are arranged in a sub-part the casing of which is not electrically conductive.

(42) In the example in FIG. 3, two independent potential converters are used. Of course, it is possible to use a single potential converter that is common to several, or even to all of the items arranged in the robot 300.

(43) In addition, it is possible to combine the embodiments in FIGS. 2 and 3. For example, it is possible to place an electrical item in a guard volume and to supply another electrical item via a potential converter.

(44) FIG. 4 is a diagrammatic representation of such an embodiment.

(45) In the robot 400 in FIG. 4, the electronic module 104.sub.2 is placed in the guard volume 202 as in FIG. 2. In addition, the signals are exchanged with the electric motor 114.sub.2 via the potential converter 304, as in FIG. 3, without using a guard volume for the motor 114.sub.2.

(46) In the examples in FIGS. 2-4, the segment 106, respectively 108, equipped with measurement electrodes 118 does not comprise any item.

(47) Of course, this segment 106, respectively 108, can also comprise at least one electrical item. In this case, and if the casing 106.sub.1, respectively 108.sub.1, of this segment is not electrically conductive, then the electrical item placed in the segment 106, respectively 108, can either be arranged in a guard volume, or associated with a potential converter, as described above.

(48) In addition, in the examples in FIGS. 2-4, the segment 104, and the articulation 114 are not equipped with measurement electrodes. Of course, this segment 104 and/or this articulation 116 can also be equipped with measurement electrodes.

(49) In general, when a sub-part of a robot comprises an outer wall that is not electrically conductive and this sub-part comprises an electrical item, it is possible: to place said item in a guard volume, or to use a potential converter for this electrical item.

(50) Such a sub-part can be equipped, or not equipped, with measurement electrodes.

(51) Such a sub-part can be a segment, an articulation, or a functional head having the form of a tool or of a tool-holder.

(52) Moreover, it is possible for a robot to be constituted by several sub-parts, some of which comprise an outer wall that is not electrically conductive and another comprising an outer wall that is at least partially electrically conductive.

(53) Now, the electrically conductive outer wall of a robot is detected by measurement electrodes, if this wall is not at the guard potential V.sub.G at the working frequency.

(54) Such a self-detection reduces the operational range of the robot and detracts from its functionality.

(55) The invention also makes it possible to overcome this drawback.

(56) FIG. 5 is a diagrammatic representation of another non-limitative embodiment of a robot according to the invention.

(57) The robot 500, shown in FIG. 5, comprises all the elements of the robot 100 in FIG. 1.

(58) In the example shown in FIG. 5, it is assumed that the casing 104.sub.1 of the segment 104 is electrically conductive. It is assumed, moreover, that the casing 114.sub.1 of the articulation 114 is electrically non-conductive.

(59) Under these conditions, in order to avoid the measurement electrodes 118 detecting the electric motor 1142, the robot 500 utilizes the potential converter 304 as described with reference to FIG. 4, for example.

(60) In addition, in order to avoid the measurement electrodes 118 detecting the electrically conductive casing 104.sub.1 of the segment 104, said casing 104.sub.1 is polarized at the guard potential V.sub.G. Thus, the casing 104.sub.1, and as a result the segment 104, become electrically invisible to the measurement electrodes 118.

(61) In general, when a sub-part of a robot comprises an electrically conductive outer wall, then it is possible to polarize said outer wall at the guard potential V.sub.G so that said conductive casing is not detected by the measurement electrodes.

(62) Such a sub-part can be a sub-part comprising, or not comprising, an electrical item.

(63) Such a sub-part can be equipped, or not equipped, with measurement electrodes. If the measurement electrodes are on a conductive outer wall polarized at the guard potential V.sub.G, it is not necessary to insert a guard plane under these measurement electrodes.

(64) Such a sub-part can be a segment, an articulation, or a functional head having the form of a tool or of a tool-holder.

(65) Examples of a functional head that can be utilized in the robot according to the invention, in particular in combination with any one of the above-described robots 200, 300, 400 and 500 will now be described.

(66) FIG. 6 is a diagrammatic representation of an example of a functional head that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(67) In the example shown in FIG. 6, the outer wall 108.sub.1 of the segment 108 on which the functional head 110 is fastened is electrically conductive and polarized at the guard potential V.sub.G.

(68) In addition, the functional head, or the outer wall 110.sub.1 of the functional head 110, is also electrically conductive and set at the guard potential V.sub.G.

(69) Thus, the functional head 110 is electrically invisible to the measurement electrodes 118 with which the segments 106 and 108 are equipped. In this configuration, there is thus no risk of the measurement electrodes 118 detecting the functional head.

(70) According to an alternative version, the outer wall 108.sub.1 of the segment 108 may not be electrically conductive and may not be set at the guard potential V.sub.G.

(71) FIG. 7 is a diagrammatic representation of another example of a functional head that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(72) In the example shown in FIG. 6, the outer wall 108.sub.1 of the segment 108 on which the functional head 110 is fastened, is not polarized at the guard potential V.sub.G.

(73) At the same time, the functional head 110, or the outer wall 110.sub.1 of the functional head 110, is polarized at the guard potential V.sub.G. In addition, an electrical insulator 702 is inserted between the segment 108 and the functional head 110 so that the functional head 110 is electrically isolated from the segment 108.

(74) Under these conditions, the functional head 110 is electrically invisible to the measurement electrodes 118 with which the segments 106 and 108 are equipped. In this configuration, there is thus no risk of the measurement electrodes 118 detecting the functional head.

(75) According to an alternative version, when the outer wall 108.sub.1 of the segment 108 is not conductive, it is not necessary to use the insulator 702.

(76) FIG. 8 is a diagrammatic representation of another example of a functional head that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(77) In the example shown in FIG. 8, the outer wall 108.sub.1 of the segment 108 on which the functional head 110 is fastened, is polarized at the guard potential V.sub.G.

(78) The functional head 110 is electrically isolated from the segment 108 by the electrical insulator 702.

(79) In addition, the functional head 110 is polarized at the first alternating potential, like the measurement electrodes 118, so as to form a capacitive detection electrode. As the wall 108.sub.1 of the segment 108 is at the guard potential V.sub.G, the detection electrode formed by the functional head 110 is electrically guarded by said outer wall 108: of the segment 108.

(80) Under these conditions, the functional head 110 is used as a capacitive detection electrode for detecting objects or the person 102 that are present in a detection zone around the functional head 110.

(81) The module 120 makes it possible to measure an electrical signal, in particular an electric current, relating to a coupling capacitance, called electrode-object capacitance, denoted C.sub.eo, between the functional head 110 and its environment.

(82) According to an alternative version, the outer wall 108.sub.1 of the segment 108 may be conductive and not be polarized at the guard potential V.sub.G.

(83) According to yet another an alternative, the outer wall 108.sub.1 of the segment 108 may not be electrically conductive and may not be set at the guard potential V.sub.G. In this case, it is not necessary to use the insulator 702.

(84) FIG. 9 is a diagrammatic representation of another example of a functional head that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(85) In the example shown in FIG. 9, the outer wall 108.sub.1 of the segment 108 on which the functional head 110 is fastened, is not polarized at the guard potential V.sub.G.

(86) The functional head 110 is polarized at the first alternating potential, like the measurement electrodes 118.

(87) In addition, a guard element 902, polarized at the guard potential V.sub.G, is placed between the functional head 110 and the segment 108. This guard element 902 makes it possible to electrically guard the functional head 110 used as capacitive detection electrode.

(88) The guard element 902 is electrically isolated from the functional head 110 by the electrical insulator 702 and from the segment 108 by an electrical insulator 904.

(89) Under these conditions, the functional head 110 is used as a capacitive detection electrode guarded by the guard element 902 for detecting objects or the person 102 that are present in a detection zone around the functional head 110.

(90) The guard element 902 can be produced from any electrically conductive element, such as for example a piece of sheet metal. The guard element 902 can be plane, or can have the form of a sleeve covering a part of the segment 108 or of the functional head 110.

(91) According to yet another alternative, the outer wall 108.sub.1 of the segment 108 may not be conductive. In this case, it is not necessary to use the insulators 702 and 904, or the guard 902.

(92) In the examples in FIGS. 8 and 9, the functional head is polarized at the first electrical potential and is used as a capacitive detection electrode.

(93) However, in certain configurations, the functional head can comprise an electrical item, such as a motor, a sensor, etc. receiving an input signal and/or transmitting an output signal. In this configuration, such an electrical item interferes with the capacitive detection carried out by the functional head.

(94) Examples will now be described which allow this drawback to be overcome.

(95) FIG. 10 is a diagrammatic representation of another example of a functional head that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(96) In the example shown in FIG. 10, the functional head 110 comprises all the elements of the functional head in FIG. 8.

(97) In addition, the functional head 110 comprises an electrical item, which in the present example is a motor Mo making it possible to move the grippers of the functional head 110.

(98) The electric motor Mo receives a supply signal from, and optionally transmits an output signal making it possible to determine the position of the grippers to, a controller 1002 which can be a robot controller. Generally, these input/output signals are referenced to an electrical ground potential MG. Now, when the functional head 110 is used as capacitive detection electrode, then the motor Mo as well as the electrical lines conducting the input/output signals, referenced to the general ground potential MG, interfere with the detection carried out by the functional head 110.

(99) In order to avoid this interference, the motor Mo, as well as the connectors and electronic unit associated therewith, are placed in a guard volume 1006 polarized at the guard potential V.sub.G. Thus, the electric motor Mo and the connectors and electronic unit associated therewith, are not visible to the functional head 110 and do not interfere with the capacitive detection carried out by said functional head 110.

(100) Of course, such a guard volume can also be used in combination with the embodiment in FIG. 9.

(101) FIG. 11 is a diagrammatic representation of another example of a functional head that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(102) In the example shown in FIG. 10, the functional head 100 comprises all the elements of the functional head in FIG. 10, with the exception of the guard volume 1006.

(103) Instead of the guard volume, a potential converter 1102 is used. This converter 1102 is placed between the controller 1002 and the electric motor Mo. The function of this converter 1102 is to: receive at least one electrical signal, called input signal, such as a supply or control signal, transmitted by the controller 1002 and intended for the electric motor Mo, and reference said input signal to the guard potential (V.sub.G); and receive at least one electrical signal, called output signal, transmitted by said electric motor Mo and intended for the controller 1002, and reference said output signal to the electrical ground potential MG of the controller.

(104) Thus the electric motor Mo, as well as the connectors and the electronic unit associated therewith, are supplied by signals referenced to the guard potential V.sub.G and do not interfere with the capacitive detection electrode that constitutes the functional head 106.

(105) Of course, such a guard volume can also be used in combination with the embodiment in FIG. 9.

(106) The potential converter 1102 can be the potential converter 302 or 304 in FIG. 3 or 4.

(107) FIG. 12 is a diagrammatic representation of an electronic detection unit that can be utilized in a robot according to the invention, in particular in any one of the robots in FIGS. 2-5.

(108) The electronic module 1200, shown in FIG. 12, can be the electronic module 120 in FIGS. 2-5.

(109) The electronic module 1200 comprises an oscillator 1202 that generates an alternating excitation voltage, denoted V.sub.G, used as guard potential.

(110) The electronic module 1200 also comprises an electronic detection unit 1204 composed of a current or charge amplifier, represented by an operational amplifier 1206 and a counter-reaction capacitor 1208.

(111) The electronic detection unit 1204 also comprises a conditioner 1210 making it possible to obtain a signal representative of the sought coupling capacitance C.sub.eo, and/or of the presence or the proximity of an object, a body. This conditioner 1210 can comprise for example a synchronous demodulator for demodulating the signal with respect to a carrier, at a working frequency. The conditioner 1210 can also comprise an asynchronous demodulator or an amplitude detector. This conditioner 1210 can of course be produced in an analogue and/or digital form (microprocessor), and comprise all necessary means for filtering, conversion, processing etc.

(112) The electronic module 1200 can comprise an electronic detection unit 1204 dedicated to each of the detection electrodes 118 and to the functional head 110.

(113) Alternatively, and as shown in FIG. 12, the electronic module 1200 can comprise a single electronic detection unit 1204 and a polling means 1210 connecting said electronic detection unit 1204 in turn with each measurement electrode 118 and with the functional head 110, so as to poll individually each of said measurement electrodes and the functional head 110.

(114) Of course, the electronic module 1200 can comprise components other than those described.

(115) In addition, the electronic module 1200 can be at least partially incorporated into an electronic unit of the robot, or into the body of the robot, or into the functional head, or also into an existing or additional interface, positioned between the functional head and the body of the robot.

(116) The electronic module 1200 can also be presented in the form of a module or a housing external to the body of the robot. In this case, all or part of the electrical connections described can be located in the electronic module 1200, connected to the other elements with cables.

(117) Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without exceeding the scope of the invention.