TY - GEN
T1 - A soft, distributed, digital 3-axis skin sensor employing a hybrid permanent-adjustable magnetic field
AU - Holgado, Alexis Carlos
AU - Alvarez Lopez, Javier Alejandro
AU - Tomo, Tito Pradhono
AU - Somlor, Sophon
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported by the JSPS Grant-in-Aid for Young Scientists (B) No.17K18183 and (B) No. 19K14948 and the Grant-in-Aid for Scientific Research No.19H01130. Additional support was provided by the Ministry of Education, Science, Sports and Culture of Japan (Monbuka-gakusho).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - In this letter, we present a new iteration of a prototype sensor module that can be used as a skin sensor for robots. The sensor uses a hybrid arrangement that consists in a small permanent magnet and an electromagnet working together above a 3-axis magnetic sensor. Both layers are separated by a flexible material that provides compliance to the sensor module. The sensitivity of the sensor can be adjusted by changing the flow of current on the electromagnet, while the permanent magnet increases the intensity of the overall magnetic field to optimize the utilization of the bandwidth of the sensor. Each sensor module includes a microcontroller with digital output that offers multimodal and distributed sensing capabilities. Problem areas of the previous version are indicated, the magnet array idea is presented and tested, and finally experiments are performed on different shapes of a flexible material to be used as middle layer.
AB - In this letter, we present a new iteration of a prototype sensor module that can be used as a skin sensor for robots. The sensor uses a hybrid arrangement that consists in a small permanent magnet and an electromagnet working together above a 3-axis magnetic sensor. Both layers are separated by a flexible material that provides compliance to the sensor module. The sensitivity of the sensor can be adjusted by changing the flow of current on the electromagnet, while the permanent magnet increases the intensity of the overall magnetic field to optimize the utilization of the bandwidth of the sensor. Each sensor module includes a microcontroller with digital output that offers multimodal and distributed sensing capabilities. Problem areas of the previous version are indicated, the magnet array idea is presented and tested, and finally experiments are performed on different shapes of a flexible material to be used as middle layer.
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U2 - 10.1109/ROBIO49542.2019.8961708
DO - 10.1109/ROBIO49542.2019.8961708
M3 - Conference contribution
AN - SCOPUS:85079065936
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 241
EP - 246
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -