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

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 540)


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.


Robotic hand Hall effect sensor 3-axis force sensing 



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.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Faculty of Technical SciencesUniversity of Novi SadNovi SadSerbia

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