"Virtual Feel" Capaciflectors

The term “virtual feel” denotes a type of capaciflector (an advanced capacitive proximity sensor) and a methodology for designing and using a sensor of this type to guide a robot in manipulating a tool (e.g., a wrench socket) into alignment with a mating fastener (e.g., a bolt head) or other electrically conductive object. Unlike robotic vision, capacitive proximity sensing does not require a clear line of sight to the mating fastener. On the contrary, capacitive proximity sensing affords the greatest position-measuring sensitivity in the situation in which it is most needed — when the tool is so close to the fastener as to prevent viewing.