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.
本文言語 | English |
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ホスト出版物のタイトル | 2015 IEEE SENSORS - Proceedings |
出版社 | Institute of Electrical and Electronics Engineers Inc. |
ISBN(印刷版) | 9781479982028 |
DOI | |
出版ステータス | Published - 2015 12月 31 |
イベント | 14th IEEE SENSORS - Busan, Korea, Republic of 継続期間: 2015 11月 1 → 2015 11月 4 |
Other
Other | 14th IEEE SENSORS |
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国/地域 | Korea, Republic of |
City | Busan |
Period | 15/11/1 → 15/11/4 |
ASJC Scopus subject areas
- 器械工学
- 電子材料、光学材料、および磁性材料
- 分光学
- 電子工学および電気工学