Development of a hall-effect based skin sensor

Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shuji Hashimoto, Shigeki Sugano, Lorenzo Jamone

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)


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 languageEnglish
Title of host publication2015 IEEE SENSORS - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479982028
Publication statusPublished - 2015 Dec 31
Event14th IEEE SENSORS - Busan, Korea, Republic of
Duration: 2015 Nov 12015 Nov 4


Country/TerritoryKorea, Republic of


  • magnetic
  • sensor
  • skin
  • tactile

ASJC Scopus subject areas

  • Instrumentation
  • Electronic, Optical and Magnetic Materials
  • Spectroscopy
  • Electrical and Electronic Engineering


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