2016
DOI: 10.3390/s16040491
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Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor

Abstract: This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hyster… Show more

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Cited by 82 publications
(50 citation statements)
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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%
See 1 more Smart Citation
“…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%
“…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%
“…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%