Capacitive casing element for robot, robot provided with such a casing element

A trim element for a robot, in particular provided to be positioned on a segment or an articulation of a robot in place of or in addition to a trim element of said robot said trim element comprising:

• at least one capacitive electrode, called measurement electrode, provided to be polarized at a first alternating electrical potential different from a ground potential at a working frequency;
• at least one electrode, called guard electrode, arranged beneath said at least one measurement electrode and provided to be polarized at an alternating electrical potential (VG), called guard potential, identical or substantially identical to said first potential at said working frequency;
• and
• at least one dielectric layer, called central layer, arranged between said at least one measurement electrode and said at least one guard electrode.