抄録
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.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | 2015 IEEE SENSORS - Proceedings |
| 出版者 | Institute of Electrical and Electronics Engineers Inc. |
| ISBN（印刷物） | 9781479982028 |
| DOI | |
| 出版物ステータス | Published - 2015 12 31 |
| イベント | 14th IEEE SENSORS - Busan, Korea, Republic of 継続期間: 2015 11 1 → 2015 11 4 |
Other
| Other | 14th IEEE SENSORS |
|---|---|
| 国 | Korea, Republic of |
| 市 | Busan |
| 期間 | 15/11/1 → 15/11/4 |
Fingerprint
ASJC Scopus subject areas
- Instrumentation
- Electronic, Optical and Magnetic Materials
- Spectroscopy
- Electrical and Electronic Engineering
これを引用
Development of a hall-effect based skin sensor. / Tomo, Tito Pradhono; Somlor, Sophon; Schmitz, Alexander; Hashimoto, Shuji; Sugano, Shigeki; Jamone, Lorenzo.
2015 IEEE SENSORS - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7370435.研究成果: Conference contribution
}
TY - GEN
T1 - Development of a hall-effect based skin sensor
AU - Tomo, Tito Pradhono
AU - Somlor, Sophon
AU - Schmitz, Alexander
AU - Hashimoto, Shuji
AU - Sugano, Shigeki
AU - Jamone, Lorenzo
PY - 2015/12/31
Y1 - 2015/12/31
N2 - 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.
AB - 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.
KW - magnetic
KW - sensor
KW - skin
KW - tactile
UR - http://www.scopus.com/inward/record.url?scp=84963627673&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84963627673&partnerID=8YFLogxK
U2 - 10.1109/ICSENS.2015.7370435
DO - 10.1109/ICSENS.2015.7370435
M3 - Conference contribution
AN - SCOPUS:84963627673
SN - 9781479982028
BT - 2015 IEEE SENSORS - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -