scholarly journals A Multimodal, Adjustable Sensitivity, Digital 3-Axis Skin Sensor Module

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3128
Author(s):  
Alexis Carlos Holgado ◽  
Tito Pradhono Tomo ◽  
Sophon Somlor ◽  
Shigeki Sugano
Keyword(s):  
Magnetic Field ◽  
Shear Force ◽  
Normal Force ◽  
Force Sensing ◽  
Capacitive Sensing ◽  
Hall Effect Sensor ◽  
Proximity Detection ◽  
Flexible Material ◽  
Sensor Module ◽  
Proximity Sensing

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.

scholarly journals Towards Functional Mobile Microrobotic Systems

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 69 ◽  
Author(s):  
Georges Adam ◽  
Sagar Chowdhury ◽  
Maria Guix ◽  
Benjamin V. Johnson ◽  
Chenghao Bi ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Real Time ◽  
Local Magnetic Field ◽  
Force Sensing ◽  
Magnetic Actuation ◽  
Complex Surfaces ◽  
Independent Control ◽  
Dry Conditions

This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot ( μ MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot ( μ TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot ( μ FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks.

A Microfluidic-Based Tactile Sensor for 3-DOF Force/Torque Detection

2015 ◽  
Author(s):  
Yichao Yang ◽  
Zhili Hao
Keyword(s):  
Soft Lithography ◽  
Shear Force ◽  
Normal Force ◽  
Three Dimensional ◽  
Tactile Sensor ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Torque Sensor ◽  
Resistance Increase ◽  
3D Microstructure

This paper reports on a microfluidic-based tactile sensor capable of detecting forces along two directions and torque about one direction. The 3-Degree-Of-Freedom (3-DOF) force/torque sensor encompasses a symmetric three-dimensional (3D) microstructure embedded with two sets of electrolyte-enabled distributed resistive transducers underneath. The 3D microstructure is built into a rectangular block with a loading-bump on its top and two microchannels at its bottom. Together with electrode pairs distributed along the microchannel length, electrolyte in each microchannel functions as a set of three resistive transducers. While a normal force results in a resistance increase in the two sets of transducers, a shear force causes opposite resistance changes in the two sets of transducers. Conversely, a torque leads to the opposite resistance changes in the two side transducers in each set. Soft lithography and CNC molding are combined to fabricate a prototype tactile sensor. The experimental results validate the feasibility of using this microfluidic-based tactile sensor for 3-DOF force/torque detection.

Platform Design for Characterizing Shear Force Produced by Magnetized Magnetorheological Fluid

2019 ◽  
Author(s):  
Ping-Hsun Lee ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Magnetic Field ◽  
Magnetic Flux ◽  
Yield Stress ◽  
Flux Density ◽  
Shear Force ◽  
Permanent Magnets ◽  
Magnetic Flux Density ◽  
Finite Element Method Result ◽  
Mr Fluid ◽  
The Magnetic Field

Abstract In this paper we proposed a platform for measuring shear force of magnetorheological (MR) fluid by which the relationship of yield stress and magnetic flux density of specific material can be determined. The device consisted of a rotatable center tube in a frame body and the magnetic field was provided by two blocks of permanent magnets placed oppositely outside the frame body. The magnitude and direction of the magnetic field were manipulated by changing the distance of the two permanent magnets from the frame body and rotating the center tube, respectively. For determining the magnetic field of the device, we adopted an effective method by fitting the FEM (finite element method) result to the measured one and then rebuilt the absent components to approximate the magnetic field, which was hardly to be measured simultaneously as different device setup were required. With the proposed platform and analytical methods, the drawing shear force and the corresponding yield stress contributed by MR fluid could be evaluated in respect to the magnitude and direction of given magnetic flux density with acceptable accuracy for specific designing purposes without a large, complex, and expensive instrument.

Magnetic Field-Dependent Normal Force of Magnetorheological Gel

2013 ◽  
Vol 52 (33) ◽  
pp. 11583-11589 ◽  
Author(s):  
Benxiang Ju ◽  
Miao Yu ◽  
Jie Fu ◽  
Xing Zheng ◽  
Shuzhi Liu
Keyword(s):  
Magnetic Field ◽  
Normal Force ◽  
Field Dependent
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