Advertisement

3-Axis Contact Force Fingertip Sensor Based on Hall Effect Sensor

  • Mirko RakovićEmail author
  • Miroslav Beronja
  • Aleksandar Batinica
  • Milutin Nikolić
  • Branislav Borovac
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 540)

Abstract

The paper describes the prototype of a novel embedded 3-axis force sensor which is intended to be used for detecting and measuring the contact forces at the fingertips of a robotic hand when grasping and manipulating objects. The sensor is composed of three main parts: a printed circuit board with Hall effect sensors, a neodymium magnet and a elastic silicon layer. The dimensions of the sensor that should be placed at the fingertip are minimized to fit the size of a human inspired robotic hand. The signal processing of the data obtained from the Hall effect sensors is completely done with an ARM Cortex-M4 micro-controller with implemented neural network. The target data which is used for training the neural network is obtained from reference precise 6 axis force/torque sensor. The experimental setup as well as the procedure for acquiring the training data set, learning and implementing the neural network on embedded platform are presented.

Keywords

Robotic hand Hall effect sensor 3-axis force sensing 

Notes

Acknowledgments

This work was funded by the Ministry of Education and Science of the Republic of Serbia under contract III44008 and by AP Vojvodina provincial secretariat for science and technological development under contract 114-451-660/2015-03.

References

  1. 1.
    Optoforce 3D force sensor. http://optoforce.com/3dsensor/
  2. 2.
    Peratech QTC touch processing unit. https://www.peratech.com/touch-development-kit.html
  3. 3.
  4. 4.
    Chi, Z., Shida, K.: A new multifunctional tactile sensor for three-dimensional force measurement. Sens. Actuators A: Phys. 111, 172–179 (2004)CrossRefGoogle Scholar
  5. 5.
    Clark, J.J.: A magnetic field based compliance matching sensor for high resolution, high compliance tactile sensing. In: Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988, pp. 772–777. IEEE (1988)Google Scholar
  6. 6.
    De Maria, G., Natale, C., Pirozzi, S.: Force/tactile sensor for robotic applications. Sens. Actuators A: Phys. 175, 60–72 (2012)CrossRefGoogle Scholar
  7. 7.
    Fishel, J., Lin, G., Loeb, G.: Biotac\({\textregistered }\) product manual. SynTouch LLC, February 2013Google Scholar
  8. 8.
    Girão, P.S., Ramos, P.M.P., Postolache, O., Pereira, J.M.D.: Tactile sensors for robotic applications. Measurement 46, 1257–1271 (2013)CrossRefGoogle Scholar
  9. 9.
    Harmon, L.D.: Tactile sensing for robots. In: Brady, M., Gerhardt, L.A., Davidson, H.F. (eds.) Robotics and Artificial Intelligence, pp. 109–157. Springer, Heidelberg (1984)CrossRefGoogle Scholar
  10. 10.
    Jamali, N., Maggiali, M., Giovannini, F., Metta, G., Natale, L.: A new design of a fingertip for the iCub hand. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2705–2710. IEEE (2015)Google Scholar
  11. 11.
    Jamone, L., Natale, L., Metta, G., Sandini, G.: Highly sensitive soft tactile sensors for an anthropomorphic robotic hand. IEEE Sens. J. 15, 4226–4233 (2015)CrossRefGoogle Scholar
  12. 12.
    Kappassov, Z., Corrales, J.A., Perdereau, V.: Tactile sensing in dexterous robot hands—review. Robot. Auton. Syst. 74, 195–220 (2015)CrossRefGoogle Scholar
  13. 13.
    Lee, M.H., Nicholls, H.R.: Review article tactile sensing for mechatronics—a state of the art survey. Mechatronics 9, 1–31 (1999)CrossRefGoogle Scholar
  14. 14.
    Navarro, B., Kumar, P., Fonte, A., Fraisse, P., Poisson, G., Cherubini, A.: Active calibration of tactile sensors mounted on a robotic hand. In: IROS: Intelligent Robots and Systems. IEEE/RSJ (2015)Google Scholar
  15. 15.
    Quigley, M., Salisbury, C., Ng, A.Y., Salisbury, J.K.: Mechatronic design of an integrated robotic hand. Int. J. Robot. Res. 33, 706–720 (2014)CrossRefGoogle Scholar
  16. 16.
    Righetti, L., Kalakrishnan, M., Pastor, P., Binney, J., Kelly, J., Voorhies, R.C., Sukhatme, G.S., Schaal, S.: An autonomous manipulation system based on force control and optimization. Auton. Robots 36, 11–30 (2014)CrossRefGoogle Scholar
  17. 17.
    Torres-Jara, E., Vasilescu, I., Coral, R.: A soft touch: compliant tactile sensors for sensitive manipulationGoogle Scholar
  18. 18.
    Wong, R.D.P., Posner, J.D., Santos, V.J.: Flexible microfluidic normal force sensor skin for tactile feedback. Sens. Actuators A: Phys. 179, 62–69 (2012)CrossRefGoogle Scholar
  19. 19.
    Yousef, H., Boukallel, M., Althoefer, K.: Tactile sensing for dexterous in-hand manipulation in robotics—a review. Sens. Actuators A: Phys. 167, 171–187 (2011)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Mirko Raković
    • 1
    Email author
  • Miroslav Beronja
    • 1
  • Aleksandar Batinica
    • 1
  • Milutin Nikolić
    • 1
  • Branislav Borovac
    • 1
  1. 1.Faculty of Technical SciencesUniversity of Novi SadNovi SadSerbia

Personalised recommendations