Abstract
In this paper we introduce a prototype of a novel hall-effect based skin sensor for robotic applications. It uses a small sized chip that provides 3-axis digital output in a compact package. Our purpose was to evaluate the feasibility of measuring 3-axis force while maintain a soft exterior for safe interactions. Silicone was used to produce the soft skin layer with about 8 mm thickness. An MLX90393 chip was installed at the bottom of layer, with a small magnet approximately 5mm above it to measure 3-axial magnetic field data. To evaluate the sensor's performance, an experiment was conducted by measuring normal and shear force when applying total forces of 0.7-14N in the normal and tangential directions of the sensor. The test revealed that the sensor prototype was able to differentiate the components of the force vector, with limited crosstalk. A calibration was performed to convert the measurements of the magnetic field to force values.
Original language | English |
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Title of host publication | 2015 IEEE SENSORS - Proceedings |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
ISBN (Print) | 9781479982028 |
DOIs | |
Publication status | Published - 2015 Dec 31 |
Event | 14th IEEE SENSORS - Busan, Korea, Republic of Duration: 2015 Nov 1 → 2015 Nov 4 |
Other
Other | 14th IEEE SENSORS |
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Country/Territory | Korea, Republic of |
City | Busan |
Period | 15/11/1 → 15/11/4 |
Keywords
- magnetic
- sensor
- skin
- tactile
ASJC Scopus subject areas
- Instrumentation
- Electronic, Optical and Magnetic Materials
- Spectroscopy
- Electrical and Electronic Engineering