A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics
Tactile sensing is crucial for robots to manipulate objects successfully. However, integrating tactile sensors into robotic hands is still challenging, mainly due to the need to cover small multi-curved surfaces with several components that must be miniaturized. In this paper, we report the design o...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-07-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/15/5098 |
| _version_ | 1797525088435699712 |
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| author | Miguel Neto Pedro Ribeiro Ricardo Nunes Lorenzo Jamone Alexandre Bernardino Susana Cardoso |
| author_facet | Miguel Neto Pedro Ribeiro Ricardo Nunes Lorenzo Jamone Alexandre Bernardino Susana Cardoso |
| author_sort | Miguel Neto |
| collection | DOAJ |
| description | Tactile sensing is crucial for robots to manipulate objects successfully. However, integrating tactile sensors into robotic hands is still challenging, mainly due to the need to cover small multi-curved surfaces with several components that must be miniaturized. In this paper, we report the design of a novel magnetic-based tactile sensor to be integrated into the robotic hand of the humanoid robot Vizzy. We designed and fabricated a flexible 4 × 2 matrix of Si chips of magnetoresistive spin valve sensors that, coupled with a single small magnet, can measure contact forces from 0.1 to 5 N on multiple locations over the surface of a robotic fingertip; this design is innovative with respect to previous works in the literature, and it is made possible by careful engineering and miniaturization of the custom-made electronic components that we employ. In addition, we characterize the behavior of the sensor through a COMSOL simulation, which can be used to generate optimized designs for sensors with different geometries. |
| first_indexed | 2024-03-10T09:08:48Z |
| format | Article |
| id | doaj.art-0c5987b7de8942d4976edfc91ec4822e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T09:08:48Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-0c5987b7de8942d4976edfc91ec4822e2023-11-22T06:10:28ZengMDPI AGSensors1424-82202021-07-012115509810.3390/s21155098A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid ElectronicsMiguel Neto0Pedro Ribeiro1Ricardo Nunes2Lorenzo Jamone3Alexandre Bernardino4Susana Cardoso5Instituto de Engenharia de Sistemas e Computadores—Microsistemas e Nanotecnologias, 1000-019 Lisbon, PortugalInstituto de Engenharia de Sistemas e Computadores—Microsistemas e Nanotecnologias, 1000-019 Lisbon, PortugalInstituto Superior Técnico, Universidade de Lisboa, 1049-001 Lisbon, PortugalAdvanced Robotics at Queen Mary, School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UKInstituto Superior Técnico, Universidade de Lisboa, 1049-001 Lisbon, PortugalInstituto de Engenharia de Sistemas e Computadores—Microsistemas e Nanotecnologias, 1000-019 Lisbon, PortugalTactile sensing is crucial for robots to manipulate objects successfully. However, integrating tactile sensors into robotic hands is still challenging, mainly due to the need to cover small multi-curved surfaces with several components that must be miniaturized. In this paper, we report the design of a novel magnetic-based tactile sensor to be integrated into the robotic hand of the humanoid robot Vizzy. We designed and fabricated a flexible 4 × 2 matrix of Si chips of magnetoresistive spin valve sensors that, coupled with a single small magnet, can measure contact forces from 0.1 to 5 N on multiple locations over the surface of a robotic fingertip; this design is innovative with respect to previous works in the literature, and it is made possible by careful engineering and miniaturization of the custom-made electronic components that we employ. In addition, we characterize the behavior of the sensor through a COMSOL simulation, which can be used to generate optimized designs for sensors with different geometries.https://www.mdpi.com/1424-8220/21/15/5098flexible hybrid electronicsmagnetic tactile sensor |
| spellingShingle | Miguel Neto Pedro Ribeiro Ricardo Nunes Lorenzo Jamone Alexandre Bernardino Susana Cardoso A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics Sensors flexible hybrid electronics magnetic tactile sensor |
| title | A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics |
| title_full | A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics |
| title_fullStr | A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics |
| title_full_unstemmed | A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics |
| title_short | A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics |
| title_sort | soft tactile sensor based on magnetics and hybrid flexible rigid electronics |
| topic | flexible hybrid electronics magnetic tactile sensor |
| url | https://www.mdpi.com/1424-8220/21/15/5098 |
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