Improvements on a Sensitivity Adjustable 3-Axis Soft Skin Sensor with an Electromagnet
Improvements on a Sensitivity Adjustable 3-Axis Soft Skin Sensor with an Electromagnet
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DOI：
10.1109/sii46433.2020.9026228
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发表时间：
2020-01
期刊：
影响因子：
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通讯作者：
A. C. Holgado;Javier Alejandro Alvarez Lopez;Tito Pradhono Tomo;S. Somlor;S. Sugano
中科院分区：
文献类型：
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作者：
A. C. Holgado;Javier Alejandro Alvarez Lopez;Tito Pradhono Tomo;S. Somlor;S. Sugano
传感器的灵敏度和测量范围通常是在生产阶段之前设定的特性。然而，用作机器人皮肤的一部分的传感器将受益于在操作期间主动调整其灵敏度的能力。可调节的灵敏度无形中扩大了传感器的操作范围，这反过来又有利于与轻物体和重物体的相互作用。在这封信中，我们提出了第二次迭代的原型传感器模块，可用作机器人的皮肤传感器。该传感器使用位于3轴磁传感器上方的扁平电磁铁，由一层柔性材料隔开。传感器的灵敏度可以通过改变流过扁平电磁体的电流来调节。每个传感器模块包括一个微控制器，提供数字输出，多模式和分布式传感能力。讨论并实现了对以前模块版本的增强。此外，我们提出了新的线圈板的温度和磁场强度的结果，以及两种可能的不同的柔性材料作为中间层的实验。
The sensitivity and measuring range of sensors are usually characteristics set before the production stage. However, sensors which are used as part of skin for robots would benefit from the ability to actively adjust their sensitivity during operation. Adjustable sensitivity implicitly broadens the range of operation of the sensor, which in turn is beneficial for interacting with both light and heavy objects. In this letter, we present the second iteration of a prototype sensor module that can be used as a skin sensor for robots. The sensor uses a flat electromagnet above a 3-axis magnetic sensor, separated by a layer of flexible material. The sensitivity of the sensor can be adjusted by changing the current that flows through the flat electromagnet. Each sensor module includes a microcontroller, providing digital output, multimodal and distributed sensing capabilities. Enhancements on the previous module version are discussed and implemented. Furthermore, we present results on temperature and magnetic field strength of the new coil board, and experiments on two possible different flexible materials to be used as a middle layer.