Magnetic tactile sensing method with Hall element for artificial finger

Yuji, Jun-ichiro; Shiraki, Shota

doi:10.1109/icsenst.2013.6727665

Cited by 9 publications

(3 citation statements)

References 10 publications

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“…In our previous work (15) (16) , we proposed a magnetic tactile sensor with two Hall elements #1 and #2 that were embedded in the surface and on the opposite side of the silicone rubber, respectively, and the magnet was embedded in the center of the rubber. With this arrangement, it is difficult to align these sensing elements.…”

Section: Structurementioning

confidence: 99%

Application of Hall Element as Tactile Sensor Device with Sensing Function of Contact Force and Temperature

Yuji

Shiraki

2015

IEEJ Trans. SM

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This paper describes a magnetic tactile sensor with Indium antimonide (InSb) Hall elements that enables multifunctional tactile sensing devices to detect normal contact forces and temperature. InSb Hall elements are generally used as magnetic sensors. The proposed sensor consists of two InSb Hall elements and a magnet that are embedded in silicone rubber, which functions as artificial skin. Here, the normal contact force is detected by the variation in distance between the Hall elements and the magnet. The temperature characteristics of the InSb Hall elements depend on the bias circuit to generate the Hall voltage. Two output Hall voltages driven by two kinds of bias circuits are measured in the normal contact force range from 0 to 90 N, and for a temperature range of 0 to 50°C. The inverse response surfaces that are used to identify the normal contact force and temperature are formulated using experimental results. The results obtained show that it is possible to detect normal contact force and temperature by obtaining two kinds of Hall voltages.

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Section: Structurementioning

confidence: 99%

Application of Hall Element as Tactile Sensor Device with Sensing Function of Contact Force and Temperature

Yuji

Shiraki

2015

IEEJ Trans. SM

Self Cite

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“…Tendo em vista a somatória das vantagens do sensor de efeito Hall, a ideia de usar este tipo de transdutor em sensores táteis foi originalmente proposta porClark (1988) eNowlin (1991), onde apenas protótipos preliminares foram apresentados. Nos últimos anos, essa linha de pesquisa foi retomada com novas propostas de sensores táteis, com foco principal em aplicações médicas e robóticas(LEDERMANN et al, 2013;NAKAMOTO;TAKENAWA, 2013;VASILESCU;CORAL, 2006;YOUSSEFIAN;RAHBAR;TORRES- JARA, 2014;YUJI;SHIRAKI, 2013).A partir disso surgiu a ideia de um sensor de força com o princípio de efeito hall, que levou a construção do protótipo aqui descrito. Uma diferença significativa entre as pesquisas dos autores supracitados e este trabalho diz respeito à faixa de operação do equipamento.…”

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“…; TORRES-JARA; VASILESCU;CORAL, 2006;WANG et al, 2016;YOUSSEFIAN;RAHBAR;TORRES-JARA, 2014;YUJI;SHIRAKI, 2013). Por fim, nenhuma pesquisa teve como intuito a criação de um dinamômetro, já que focaram sempre em sensores táteis.Nos protótipos descritos neste trabalho, a força a ser medida depende da aproximação/afastamento entre um sensor de efeito Hall e um ímã, tendo material flexível (elastômero) na interface entre ambos.…”

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