Design and characterization of a three-axis hall effect-based soft skin sensor

Tito Pradhono Tomo; Sophon Somlor; Alexander Schmitz; Lorenzo Jamone; Weijie Huang; Harris Kristanto; Shigeki Sugano

doi:10.3390/s16040491

Design and characterization of a three-axis hall effect-based soft skin sensor

Tito Pradhono Tomo^*, Sophon Somlor, Alexander Schmitz, Lorenzo Jamone, Weijie Huang, Harris Kristanto, Shigeki Sugano

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

88 Citations (Scopus)

Abstract

This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

Original language	English
Journal	Sensors (Switzerland)
Volume	16
Issue number	4
DOIs	https://doi.org/10.3390/s16040491
Publication status	Published - 2016 Apr 7

Keywords

Magnetic
Sensor
Skin
Tactile

ASJC Scopus subject areas

Analytical Chemistry
Information Systems
Atomic and Molecular Physics, and Optics
Biochemistry
Instrumentation
Electrical and Electronic Engineering

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10.3390/s16040491

Cite this

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title = "Design and characterization of a three-axis hall effect-based soft skin sensor",

abstract = "This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.",

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AU - Tomo, Tito Pradhono

AU - Somlor, Sophon

AU - Schmitz, Alexander

AU - Jamone, Lorenzo

AU - Huang, Weijie

AU - Kristanto, Harris

AU - Sugano, Shigeki

PY - 2016/4/7

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N2 - This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

AB - This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

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KW - Sensor

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KW - Tactile

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Design and characterization of a three-axis hall effect-based soft skin sensor

Abstract

Keywords

ASJC Scopus subject areas

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