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Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor.

Tito Pradhono Tomo1, Sophon Somlor2, Alexander Schmitz3

  • 1Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. tito@toki.waseda.jp.

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Researchers developed a small, soft 3-axis Hall effect skin sensor for robots. This sensor accurately measures forces in multiple directions, enhancing robotic interaction safety and capability.

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Area of Science:

  • Robotics
  • Sensor Technology
  • Materials Science

Background:

  • Robotic applications require advanced tactile sensing for safe and effective interaction.
  • Existing sensors often lack the necessary softness, miniaturization, or multi-axis force detection capabilities.

Purpose of the Study:

  • To present a cost-effective and easy-to-produce 3-axis Hall effect-based skin sensor for robotics.
  • To develop a sensor with a soft exterior for safe human-robot interaction.
  • To evaluate the sensor's performance, including temperature drift, hysteresis, and crosstalk.

Main Methods:

  • Utilizing an off-the-shelf Hall effect chip for a compact, digital output sensor.
  • Integrating a soft silicone exterior (approximately 8 mm thick) for safe interaction.
  • Conducting tests to assess temperature drift, hysteresis, and crosstalk between axes.
  • Calibrating the sensor to measure forces in normal and tangential directions.

Main Results:

  • The sensor demonstrates the ability to detect minimal forces as low as 1 gf.
  • Calibration results show accurate force measurements up to 1450 gf in normal and tangential directions.
  • Temperature compensation was successfully implemented using an integrated temperature sensor.
  • Evaluation confirmed the sensor's capability to measure distinct components of the force vector.

Conclusions:

  • A practical and accessible 3-axis Hall effect skin sensor suitable for robotic applications has been developed.
  • The sensor's soft nature and multi-axis force measurement capabilities contribute to safer and more versatile robotic systems.
  • The implemented temperature compensation enhances the sensor's reliability across different environmental conditions.