title: Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor.
abstract: This paper presents an easy means to produce a 3-axis Hall effect-based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. tito@toki.waseda.jp.
authors.forename: Tito Pradhono
authors.initials: TP
authors.lastname: Tomo
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. sophon@sugano.mech.waseda.ac.jp.
authors.forename: Sophon
authors.initials: S
authors.lastname: Somlor
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. schmitz@aoni.waseda.jp.
authors.forename: Alexander
authors.initials: A
authors.lastname: Schmitz
authors.affiliation: Instituto de Sistemas e Robótica, Instituto Superior Técnico, Lisbon 1049-001, Portugal. ljamone@isr.tecnico.ulisboa.pt.
authors.forename: Lorenzo
authors.initials: L
authors.lastname: Jamone
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. kou498431413@fuji.waseda.jp.
authors.forename: Weijie
authors.initials: W
authors.lastname: Huang
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. harris.kristanto@fuji.waseda.jp.
authors.forename: Harris
authors.initials: H
authors.lastname: Kristanto
authors.affiliation: Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. sugano@waseda.jp.
authors.forename: Shigeki
authors.initials: S
authors.lastname: Sugano
keywords: magnetic; sensor; skin; tactile