3-Axis Force Estimation of a Soft Skin Sensor using Permanent Magnetic Elastomer (PME) Sheet with Strong Remanence
3-Axis Force Estimation of a Soft Skin Sensor using Permanent Magnetic Elastomer (PME) Sheet with Strong Remanence
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DOI：
10.1109/aim52237.2022.9863376
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发表时间：
2022-07
期刊：
影响因子：
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通讯作者：
Yushi Wang;Mitsuhiro Kamezaki;Qichen Wang;H. Sakamoto;S. Sugano
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文献类型：
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作者：
Yushi Wang;Mitsuhiro Kamezaki;Qichen Wang;H. Sakamoto;S. Sugano
本文介绍了一种新型的永磁弹性体（PME）片为基础的皮肤传感器的机器人应用的原型。其工作原理是利用霍尔效应传感器测量磁场的变化。PME是一种内部分布有纳米颗粒的聚合物，经过各向异性的强磁化后，PME获得了与永磁体相当的强剩磁，在本工作中，我们对PME的磁场强度进行了改进，使其在不变形的情况下达到了25 mT的磁强度。当外力施加在传感器上时，PME的变形由于磁性颗粒的排列的变化而引起磁场的变化。与其他采用类似技术的软磁传感器相比，我们实现了线性回归方法来简化校准，因此我们专注于磁强计正上方的点。MLX 90393芯片安装在PME底部作为磁力计。实验结果表明，该系统可以测量0.01 ~ 10 N的力。当PME的表面小于15 x 15 mm时，即使对于剪切方向，校准也被证实是有效的。
This paper describes a prototype of a novel Permanent Magnetic Elastomer (PME) sheet based skin sensor for robotic applications. Its working principle is to use a Hall effect transducer to measure the change of magnetic field. PME is a polymer that has Neodymium particles distributed inside it, after strong magnetization for anisotropy, the PME acquires strong remanent magnetization that can be comparable to that of a permanent magnet, in this work, we made improvement of the strength of the magnetic field of PME, so it achieved magnetic strength as high as 25 mT when there is no deformation. When external forces apply on the sensor, the deformation of PME causes a change in the magnetic field due to the change in the alignment of the magnetic particles. Compared with other soft magnetic sensors that employ similar technology, we implemented linear regression method to simplify the calibration, so we focus on the point right above the magnetometer. An MLX90393 chip is installed at the bottom of the PME as the magnetometer. Experimental results show that it can measure forces from 0.01–10 N. Calibration is confirmed effective even for shear directions when the surface of PME is less than 15 x 15 mm.