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

研究成果: Conference contribution

53 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICRA 2017 - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ966-971
ページ数6
ISBN(電子版)9781509046331
DOI
出版ステータスPublished - 2017 7月 21
イベント2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
継続期間: 2017 5月 292017 6月 3

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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