Omnidirectional Fingertip Pressure Sensor Using Hall Effect

When grasping objects with uneven or varying shapes, accurate pressure measurement on robot fingers is critical for precise robotic gripping operations. However, measuring the pressure from the sides of the fingertips remains challenging owing to the poor omnidirectionality of the pressure sensor. In this study, we propose an omnidirectional sensitive pressure sensor using a cone-shaped magnet slider and Hall sensor embedded in a flexible elastomer, which guarantees taking pressure measurements from any side of the fingertip. The experimental results indicate that the proposed pressure sensor has a high sensitivity (61.34 mV/kPa) in a wide sensing range (4-90 kPa) without blind spots on the fingertip, which shows promising application prospects in robotics.