TY - GEN
T1 - An Adjustable Force Sensitive Sensor with an Electromagnet for a Soft, Distributed, Digital 3-axis Skin Sensor
AU - Holgado, Alexis C.
AU - Alvarez Lopez, Javier A.
AU - Schmitz, Alexander
AU - Tomo, Tito Pradhono
AU - Somlor, Sophon
AU - Jamone, Lorenzo
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Typically, the range and sensitivity of force sensors are determined during production. However, to be able to do both delicate and high-force demanding work, adjustable force sensitivity would be beneficial. The current paper proposes such a sensor by implementing a planar electromagnet above a 3-axis magnetic sensor, separated by soft foam. Furthermore, the sensor has digital output with an integrated microcontroller. The magnetic field strength with varying currents is examined in simulation, and the field changes according to displacements are investigated both in simulation and with the actual sensor. A prototype 3-axis force sensor is implemented and the relationship between the magnetic field change and the corresponding applied force is also investigated. It could be shown that the sensitivity of the sensor to displacements, as well as force, can indeed be adjusted.
AB - Typically, the range and sensitivity of force sensors are determined during production. However, to be able to do both delicate and high-force demanding work, adjustable force sensitivity would be beneficial. The current paper proposes such a sensor by implementing a planar electromagnet above a 3-axis magnetic sensor, separated by soft foam. Furthermore, the sensor has digital output with an integrated microcontroller. The magnetic field strength with varying currents is examined in simulation, and the field changes according to displacements are investigated both in simulation and with the actual sensor. A prototype 3-axis force sensor is implemented and the relationship between the magnetic field change and the corresponding applied force is also investigated. It could be shown that the sensitivity of the sensor to displacements, as well as force, can indeed be adjusted.
UR - http://www.scopus.com/inward/record.url?scp=85062966689&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062966689&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8593757
DO - 10.1109/IROS.2018.8593757
M3 - Conference contribution
AN - SCOPUS:85062966689
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2582
EP - 2588
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -