Soft artificial fingertip with Hall elements as a pressure-temperature sensitive device embedded in elastic material

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A magnetic multifunctional tactile sensing method with Indium antimonide (InSb) Hall elements for artificial fingertip to detect simultaneously normal contact force and temperature was investigated. A trial artificial fingertip consists of Hall elements and a magnet that are embedded in a silicone rubber. The temperature characteristic of InSb Hall elements depends on the bias circuit to generate the Hall voltage. Two output Hall voltages driven by two kinds of bias circuits are used to formulate the inverse response surface. This inverse response surface detected the normal contact force and the temperature by using only two Hall voltages.