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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Takenawa, S. |
| Copyright Year | 2009 |
| Description | Author affiliation: Kobe City College of Technology, 651-2194, Japan (Takenawa, S.) |
| Abstract | A novel tactile sensor based on electromagnetic induction that can detect slippage in addition to three-axis force is proposed. The structure of this sensor is simple, and the sensor, which is essentially a displacement gauge, consists of a two-dimensional array of inductors and an elastic body containing a permanent magnet. Formulas to transform the output voltage of the proposed sensor into a force vector are derived, and analyses of both deformation of the proposed structure and magnetic field generated by a cylindrical permanent magnet are carried out to extract transformation parameters. In addition, it is shown that the sensor sensitivity can be designed using the aspect ratio of the cylindrical magnet. A prototype unit-cell of a tactile sensor is developed with four chip inductors, silicon gel as an elastic body and a neodymium magnet, and experiments are undertaken with a six-axis force/torque sensor as a reference. The contributions of inductors to sensor output are observed experimentally to be in agreement with analytical prediction and the reference sensor. Experimental results show that the proposed tactile sensor is useful for three-axis force measurement and slip detection. |
| Starting Page | 3295 |
| Ending Page | 3300 |
| File Size | 289226 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152420 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Sensor arrays Tactile sensors Inductors Magnetic sensors Force sensors Permanent magnets Magnetic analysis Magnetoelasticity Electromagnetic induction Voltage |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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