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Sensors 2016, 16(4), 491;

Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor

Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Instituto de Sistemas e Robótica, Instituto Superior Técnico, Lisbon 1049-001, Portugal
Author to whom correspondence should be addressed.
Academic Editors: Yajing Shen, Lianqing Liu, Ning Xi, Wen Jung Li and Xin Zhao
Received: 12 February 2016 / Revised: 28 March 2016 / Accepted: 31 March 2016 / Published: 7 April 2016
(This article belongs to the Special Issue Sensors for Robots)
Full-Text   |   PDF [3410 KB, uploaded 7 April 2016]   |  


This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector. View Full-Text
Keywords: tactile; skin; sensor; magnetic tactile; skin; sensor; magnetic

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Tomo, T.P.; Somlor, S.; Schmitz, A.; Jamone, L.; Huang, W.; Kristanto, H.; Sugano, S. Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor. Sensors 2016, 16, 491.

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