Abstract
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.
Highlights
Sensing the gripping pressure level of objects with uneven or varying shapes is one of the most important technologies in the field of robotic hand applications
These results reveal that our pressure sensor is omnidirectional and has an approximately constant linear relationship between VH and pressure in all pressure directions; the omnidirectional-sensitive finger pressure (OFP) sensor can reliably detect the pressure coming from all directions on the fingertip surface
The sensor was integrated with an elastomer fingertip, Hall sensor, solenoid coil, and a movable magnet slider
Summary
Sensing the gripping pressure level of objects with uneven or varying shapes is one of the most important technologies in the field of robotic hand applications. Omnidirectional Fingertip Pressure Sensor Using Hall Effect. This is because, aside from the problem of bad sensitivity, its lower limit of detection is too high to use as the pressure sensor of a fingertip.
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