A modular, distributed, soft, 3-axis sensor system for robot hands

Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Alexandre Sarazin, Lorenzo Jamone, Sophon Somlor, Shigeki Sugano

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

31 Citations (Scopus)


Integrating distributed sensors in the skin of robot hands is challenging, as the space is limited. This paper presents a dense and small tactile sensor system that can be installed on robotic hands. In the current implementation, the system is constituted by modules that are 26mm long and 27mm wide and they have been successfully integrated on the internal side of each finger phalange of the commercially available Allegro Hand (except the fingertips). Each sensor module contains 16 tri-axial taxels; each taxel is able to measure the applied 3D force vector using a Hall effect sensor and a magnet. The sensor modules are 4mm high, including the printed circuit board (PCB) with the sensors and the soft silicone with the magnets. The back of the PCB is flat without any components mounted, which eases the integration. Each sensor has I2C digital output, and each sensor module is connected to four I2C buses, requiring only seven wires for each module. The tri-axial taxels are close to each other (4.7 mm from the center of one taxel to the next), but experiments proved that independent force vectors can be measured and that the crosstalk is limited.

Original languageEnglish
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Number of pages7
ISBN (Electronic)9781509047185
Publication statusPublished - 2016 Dec 30
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: 2016 Nov 152016 Nov 17


Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering


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