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

Tomo, Tito Pradhono; Somlor, Sophon; Schmitz, Alexander; Jamone, Lorenzo; Huang, Weijie; Kristanto, Harris; Sugano, Shigeki

doi:10.3390/s16040491

Cited by 82 publications

(50 citation statements)

References 12 publications

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“…While estimating forces only in one direction, they are very sensitive and offer a high resolution, as shown in Section 3.1. The shear force sensors (MLX90393, Melexis, Ypres, Belgium) are based on work presented by Tomo et al [9,10]. They can be used to estimate both normal and shear forces and offer a larger measurement range than the normal force sensors.…”

Section: Sensor System Configurationmentioning

confidence: 99%

“…Tomo et al [9,10] use commercially available digital three-axis Hall effect sensors together with a magnet embedded into flexible material above the sensor to measure normal and shear forces through the displacement of the magnet. These modular sensors were integrated into the Allegro [11] and the iCub hands and fingers [12,13].…”

Section: Introduction and Related Workmentioning

confidence: 99%

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An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Weiner

Neef

Shibata

et al. 2019

Sensors

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Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the mechanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.

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Section: Sensor System Configurationmentioning

confidence: 99%

Section: Introduction and Related Workmentioning

confidence: 99%

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Weiner

Neef

Shibata

et al. 2019

Sensors

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“…Recent studies also introduced 3-D and skinlike magnetic-type tactile sensors. 7 The tactile sensors are usually in a matrix form with distributed receptors. The main categorizing criteria is the method of how these receptors acquire the tactile data.…”

Section: Introductionmentioning

confidence: 99%

A low-cost, human-like, high-resolution, tactile sensor based on optical fibers and an image sensor

Buyuksahin

Kirli

2018

International Journal of Advanced Robotic Systems

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Tactile sensors are commonly a coordinated group of receptors forming a matrix array meant to measure force or pressure similar to the human skin. Optic-based tactile sensors are flexible, sensitive, and fast; however, the human fingertip's spatial resolution, which can be regarded as the desired spatial resolution, still could not be reached because of their bulky nature. This article proposes a novel and patented optic-based tactile sensor design, in which fiber optic cables are used to increase the number of sensory receptors per square centimeter. The proposed human-like high-resolution tactile sensor design is based on simple optics and image processing techniques, and it enables high spatial resolution and easy data acquisition at low cost. This design proposes using the change in the intesity of the light occured due to the deformation on contact/measurement surface. The main idea is using fiber optic cables as the afferents of the human physiology which can have 9 mm diameters for both delivering and receiving light beams. The variation of the light intensity enters sequent mathematical models as the input, then, the displacement, the force, and the pressure data are evaluated as the outputs. A prototype tactile sensor is manufactured with 1-mm spatial and 0.61-kPa pressure measurement resolution with 0-15.6 N/cm 2 at 30 Hz sampling frequency. Experimental studies with different scenarios are conducted to demonstrate how this state-of-the-art design worked and to evaluate its performance. The overall accuracy of the first prototype, based on different scenarios, is calculated as 93%. This performance is regarded as promising for further developments and applications such as grasp control or haptics.

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“…The commonly used force sensing systems are based on strain gauges [12]- [14]. Further, tactile/force sensing systems based on magnet and magnetic sensors were developed [15], [16]. Electrical components are not preferable in medical operations due to the requirement of sterilization or disinfection.…”

Section: A Related Workmentioning

confidence: 99%

Incompressible liquid based force sensible silicone retractor attachable to surgical suction instruments

Koyama

Yoneyama

Nakada³

et al. 2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Abstract-This paper presents a silicone retractor, which is a continuation and extension of a previously developed system that had the same three functions as the old version: 1) retracting, 2) suction, and 3) force sensing. These features make the retractor a safe choice for use in neurosurgery. Suction is achieved by attaching the retractor to a suction pipe. The retractor has a deformation area filled with an incompressible liquid that is displaced in proportion to the extent of deformation; fiberscopes or human eyes detecting the displacement get a visual representation of the force. The new design improves on the old one in three ways-miniaturization, made possible by the incompressible-liquid-based mechanism, and measurement of force distribution by distribution of the areas deformed by force. The system was validated by conducting experiments.

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

Cited by 82 publications

References 12 publications

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

A low-cost, human-like, high-resolution, tactile sensor based on optical fibers and an image sensor

Incompressible liquid based force sensible silicone retractor attachable to surgical suction instruments

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