TY - GEN
T1 - Improvements on a Sensitivity Adjustable 3-Axis Soft Skin Sensor with an Electromagnet
AU - Holgado, Alexis C.
AU - Alvarez Lopez, Javier A.
AU - Tomo, Tito Pradhono
AU - Somlor, Sophon
AU - Sugano, Shigeki
N1 - Funding Information:
ACKNOWLEDGMENT 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:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - The sensitivity and measuring range of sensors are usually characteristics set before the production stage. However, sensors which are used as part of skin for robots would benefit from the ability to actively adjust their sensitivity during operation. Adjustable sensitivity implicitly broadens the range of operation of the sensor, which in turn is beneficial for interacting with both light and heavy objects. In this letter, we present the second iteration of a prototype sensor module that can be used as a skin sensor for robots. The sensor uses a flat electromagnet above a 3-axis magnetic sensor, separated by a layer of flexible material. The sensitivity of the sensor can be adjusted by changing the current that flows through the flat electromagnet. Each sensor module includes a microcontroller, providing digital output, multimodal and distributed sensing capabilities. Enhancements on the previous module version are discussed and implemented. Furthermore, we present results on temperature and magnetic field strength of the new coil board, and experiments on two possible different flexible materials to be used as a middle layer.
AB - The sensitivity and measuring range of sensors are usually characteristics set before the production stage. However, sensors which are used as part of skin for robots would benefit from the ability to actively adjust their sensitivity during operation. Adjustable sensitivity implicitly broadens the range of operation of the sensor, which in turn is beneficial for interacting with both light and heavy objects. In this letter, we present the second iteration of a prototype sensor module that can be used as a skin sensor for robots. The sensor uses a flat electromagnet above a 3-axis magnetic sensor, separated by a layer of flexible material. The sensitivity of the sensor can be adjusted by changing the current that flows through the flat electromagnet. Each sensor module includes a microcontroller, providing digital output, multimodal and distributed sensing capabilities. Enhancements on the previous module version are discussed and implemented. Furthermore, we present results on temperature and magnetic field strength of the new coil board, and experiments on two possible different flexible materials to be used as a middle layer.
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U2 - 10.1109/SII46433.2020.9026228
DO - 10.1109/SII46433.2020.9026228
M3 - Conference contribution
AN - SCOPUS:85082610854
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 68
EP - 73
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -