A Magnetic Type Tactile Sensor by GMR elements and inductors

被引：30

作者：

Goka, Masanori ^{[1
]}

Nakamoto, Hiroyuki ^{[1
]}

Takenawa, Satoru ^{[1
]}

机构：

[1] Hyogo Prefectural Inst Technol, Suma Ku, 3-1-12 Yukihira Cho, Kobe, Hyogo, Japan

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

D O I：

10.1109/IROS.2010.5650283

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A novel magnetic type tactile sensor is proposed. This sensor can measure a three-axis force vector and detect a slip. The structure is simple, and this sensor consists of two layers, an elastic layer and a substrate layer. The elastic layer is made of an elastic material and has a cylindrical permanent magnet. The substrate layer is a glass epoxy board and has four GMR(giant magneto resistance) elements and four chip inductors. Each element outputs voltages as to a magnetic flux density when the elastic layer deforms by a contact. A force vector and a slip detection are calculated from these outputs. Laboratory experiments demonstrate the effectiveness of this tactile sensor.

引用

页码：885 / 890

页数：6

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