Zhao Zhirui, Xia Chun, Zeng Xinyu, Hou Xinyu, Hao Lina, Shan Dexing, Xu Jiqian
School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China.
School of Mechanical and Electronic Engineering, Northeastern University, Shenyang 110819, China.
Sensors (Basel). 2025 Sep 18;25(18):5823. doi: 10.3390/s25185823.
Considering that soft airbag sensors made from soft materials are limited to detecting only normal forces, a novel PEBA-silicone composite magneto-sensitive airbag sensor is proposed for simultaneously detecting normal contact force and horizontal motion during human-robot interaction. In terms of structural design, the PEBA-silicone composite airbag is manufactured using fused deposition modeling, 3D printing, and silicone casting, achieving a balance between high airtightness and adjustable stiffness. Beneath the airbag, a magneto-sensitive substrate with several NdFeB magnets is embedded, while a fixed Hall sensor detects spatially varying magnetic fields to determine horizontal displacements without contact. The results of contact-force and motion experiments show that the proposed sensor achieves a force resolution of 20 g, a force range of 0 to 1100 g, a fitting sensitivity of 7.54 N/Pa, an average static stiffness of 4.82 N/mm, and a horizontal motion detection range of 0.125 to 1 cm/s. In addition, the prototype of the sensor is lightweight (with the complete assembly weighing 81.25 g and the sensing part weighing 56.13 g) and low-cost, giving it potential application value in exoskeletons and industrial grippers.
考虑到由软材料制成的软气囊传感器仅限于检测法向力，本文提出了一种新型的聚醚嵌段酰胺-硅树脂复合磁敏气囊传感器，用于在人机交互过程中同时检测法向接触力和水平运动。在结构设计方面，聚醚嵌段酰胺-硅树脂复合气囊采用熔融沉积建模、3D打印和硅树脂浇铸制造，在高气密性和可调节刚度之间取得了平衡。在气囊下方，嵌入了一个带有多个钕铁硼磁体的磁敏基板，同时一个固定的霍尔传感器检测空间变化的磁场，以确定无接触情况下的水平位移。接触力和运动实验结果表明，所提出的传感器实现了20 g的力分辨率、0至1100 g的力范围、7.54 N/Pa的拟合灵敏度、4.82 N/mm的平均静态刚度以及0.125至1 cm/s的水平运动检测范围。此外，该传感器原型重量轻（完整组件重81.25 g，传感部分重56.13 g）且成本低，在外部骨骼和工业夹具中具有潜在的应用价值。
