Estimation of Displacement and Rotation by Magnetic Tactile Sensor Using Stepwise Regression Analysis

Abstract

The human is covered with soft skin and has tactile receptors inside. The skin deforms along a contact surface. The tactile receptors detect the mechanical deformation. The detection of the mechanical deformation is essential for the tactile sensation. We propose a magnetic type tactile sensor which has a soft surface and eight magnetoresistive elements. The soft surface has a permanent magnet inside and the magnetoresistive elements under the soft surface measure the magnetic flux density of the magnet. The tactile sensor estimates the displacement and the rotation on the surface based on the change of the magnetic flux density. Determination of an estimate equation is difficult because the displacement and the rotation are not geometrically decided based on the magnetic flux density. In this paper, a stepwise regression analysis determines the estimate equation. The outputs of the magnetoresistive elements are used as explanatory variables, and the three-axis displacement and the two-axis rotation are response variables in the regression analysis. We confirm the regression analysis is effective for determining the estimate equations through simulation and experiment. The results show the tactile sensor measures both the displacement and the rotation generated on the surface by using the determined equation.

Recent Progress of Biomimetic Tactile Sensing Technology Based on Magnetic Sensors

“…At the beginning of the 21st century, GMR sensors have been widely used as tactile sensing elements. For example, Goka and Nakamoto have successively designed tactile sensors with GMR elements [ 57 , 58 , 87 , 88 ]. Goka used flexible circular bulges embedded with permanent magnets as the sensitive structure.…”

Rotational speed measurement of ring spinning based on magnetic sensor

“…Magnetic anomaly caused by ferrous/magnetic object motion can be used to locate or identify the targets that have been extensively applied in the fields of traffic surveillance [12,13], banknote validation [14,15], archeological artifacts [16], and hidden ordnance [17,18]. The anomalous magnetic signal can be detected by field-sensitive magnetoresistance devices, including anisotropic magnetoresistance [19], giant magnetoresistance [20,21], and tunnel magnetoresistance (TMR) [22]. TMR has the following advantages: fast response, high sensitivity, high signal-to-noise ratio, low power consumption, and wide dynamic range [23].…”