Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy

Tiago Paulino, Pedro Ribeiro, Miguel Neto, Susana Cardoso, Alexander Schmitz, Jose Santos-Victor, Alexandre Bernardino, Lorenzo Jamone

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

40 Citations (Scopus)

Abstract

In this paper we present a low-cost and easy to fabricate 3-axis tactile sensor based on magnetic technology. The sensor consists in a small magnet immersed in a silicone body with an Hall-effect sensor placed below to detect changes in the magnetic field caused by displacements of the magnet, generated by an external force applied to the silicone body. The use of a 3-axis Hall-effect sensor allows to detect the three components of the force vector, and the proposed design assures high sensitivity, low hysteresis and good repeatability of the measurement: notably, the minimum sensed force is about 0.007N. All components are cheap and easy to retrieve and to assemble; the fabrication process is described in detail and it can be easily replicated by other researchers. Sensors with different geometries have been fabricated, calibrated and successfully integrated in the hand of the human-friendly robot Vizzy. In addition to the sensor characterization and validation, real world experiments of object manipulation are reported, showing proper detection of both normal and shear forces.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages966-971
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17/5/2917/6/3

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy'. Together they form a unique fingerprint.

Cite this