Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan.
Sensors (Basel). 2020 Jun 1;20(11):3128. doi: 10.3390/s20113128.
This paper presents major improvements to a multimodal, adjustable sensitivity skin sensor module. It employs a geomagnetic 3-axis Hall effect sensor to measure changes in the position of a magnetic field generated by an electromagnet. The electromagnet is mounted on a flexible material, and different current values can be supplied to it, enabling adjustments to the sensitivity of the sensor during operation. Capacitive sensing has been added in this iteration of the module, with two sensing modalities: "pre-touch" detection with proximity sensing and normal force capacitive sensing. The sensor has been designed to be interconnected with other sensor modules to be able to cover large surfaces of a robot with normal and shear force sensing and object proximity detection. Furthermore, this paper introduces important size reductions of the previous sensor design, calibration results, and further analysis of other sensor characteristics.
本文提出了对一种多模态、可调节灵敏度的皮肤传感器模块的重大改进。它采用了地磁三轴霍尔效应传感器来测量由电磁铁产生的磁场位置变化。电磁铁安装在柔性材料上，可以向其提供不同的电流值，从而在运行过程中调整传感器的灵敏度。在这个模块的迭代中，增加了电容感应，有两种感应模式：“预触摸”检测的接近感应和正常力电容感应。该传感器的设计可以与其他传感器模块相互连接，以便能够用正常和剪切力感应以及物体接近检测覆盖机器人的大表面。此外，本文还介绍了前传感器设计的重要尺寸减小、校准结果以及对其他传感器特性的进一步分析。
