TY - GEN
T1 - Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy
AU - Paulino, Tiago
AU - Ribeiro, Pedro
AU - Neto, Miguel
AU - Cardoso, Susana
AU - Schmitz, Alexander
AU - Santos-Victor, Jose
AU - Bernardino, Alexandre
AU - Jamone, Lorenzo
N1 - Funding Information:
*This work was partially supported by FCT under projects EXCL/CTM-NAN/0441/2012, PTDC/CTM-NAN/3146/2014 and UID/EEA/50009/2013, and by the European Commission under project LIMOMAN (PIEF-GA-2013-628315). In addition, M. Neto acknowledges FCT for the grant PD/BD/105933/2014.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
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U2 - 10.1109/ICRA.2017.7989118
DO - 10.1109/ICRA.2017.7989118
M3 - Conference contribution
AN - SCOPUS:85028018691
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 966
EP - 971
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -