Abstract:
Tactile Sensors play a crucial role in developing
robots with human like grasping and manipulation capabilities.
Localization, dynamic sensing and good force recognition
characteristics are major goals when designing a tactile sensor.
However, fulfilling these requirements come at the cost of
increased complexity in design, high cost and difficulties in
practical implementation due to size. In this research a sensor
has been developed that is based on the concept of Hall effect. An
array of magnets and hall sensors create a unique combination of
outputs for each different deformation of the dual layered silicon
membrane which houses the magnets. While allowing the
interaction with non-planar surfaces due to the compliant nature
of the silicon material, the sensor also facilitates accurate force
recognition and localization with super-resolution using sensor
readings, geometry and elastic properties of the silicon layer.
This paper contains the design, fabrication and calibration of the
tactile sensor array.
