Design and Output Characteristics of Magnetostrictive Tactile Sensor for Detecting Force and Stiffness of Manipulated Objects

Li, Yun-Kai; Wang, Bowen; Li, Yuanyuan; Zhang, Bing; Weng, Ling; Huang, Wenmei; Liu, Xinzhu

doi:10.1109/tii.2018.2862912

Cited by 43 publications

(23 citation statements)

References 21 publications

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“…The testing frequency is in the range of 1 -3 Hz, and the complete waveform response can be obtained in different frequencies when the force is applied and released rapidly. The output voltage is nearly 150 mV in the range of 1 -3 Hz at the force of 1 N. It seems that the tactile sensing unit is suitable for the grip in this frequency range because the tactile sensing frequency of the human hand is in the range of 1 -3 Hz [19].…”

Section: B Dynamic Performance Of the Magnetostrictive Tactile Sensimentioning

confidence: 95%

“…The constants in (10) are the equivalent Hall coefficient KH, transfer coefficient of the magnetic flux density Ks, vacuum permeability μ0, saturated magnetization Ms, shape coefficient of the non-hysteretic magnetization a, domain wall interaction coefficient α, and saturation magnetostriction λs. According to [19], the constants can be determined, as listed in Table I. The variables in (10) are the external force F, the effective length l and radius R of Galfenol wires.…”

Section: B Measurement Model Of Force For Magnetostrictive Tactile Smentioning

confidence: 99%

“…Wendong Zheng et al reported a tactile force sensor using a Galfenol sheet with the sensitivity of 22.81 mV/N in the range of 0 -1 N [18]. In our previous work, a single contact pin finger-like magnetostrictive tactile sensor with the size of 50 mm × 20 mm × 20 mm was designed, and it can be used to measure the force and stiffness [19].…”

Section: Introductionmentioning

confidence: 99%

“…The sensing unit can be integrated into a tactile sensor array. Compared to our previous work [19], the magnetostrictive tactile sensor array is available for the detection of the information of multiple contacts. The size of the magnetostrictive tactile sensor array is reduced greatly, and is more suitable for integration with manipulator.…”

Section: Introductionmentioning

confidence: 99%

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A Magnetostrictive Tactile Sensing Unit and the Integration of Sensor Array for Intelligent Manipulator

et al. 2020

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A magnetostrictive tactile sensing unit and the integrated sensor array have been developed, based on the sensing process of human skin and the inverse magnetostrictive effect. The working mechanism of the magnetostrictive tactile sensing unit has theoretically been studied by using electromagnetism theory and cantilever beam theory, and the relationship between the applied force and output voltage has been determined. The measurement of sensing performance about the static and dynamic force has been carried out, and it is found that the sensitivity of a sensing unit is 127 mV/N, resolution is 0.07 N, and response time is 24 ms. The sensing unit possesses a high reliability with the test of 5 000 cycles. The optimum distance between adjacent sensing units of the sensor array is determined by COMSOL multiphysics software when the sensing unit is integrated into a sensor array. By integrating four magnetostrictive tactile sensing units into a 2 × 2 sensor array, it could monitor and map the force distribution applied on the manipulator in the grip. The tactile sensor array shows great potential within the application of intelligent manipulator.

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Section: B Dynamic Performance Of the Magnetostrictive Tactile Sensimentioning

confidence: 95%

Section: B Measurement Model Of Force For Magnetostrictive Tactile Smentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Magnetostrictive Tactile Sensing Unit and the Integration of Sensor Array for Intelligent Manipulator

et al. 2020

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“…It is a well-known fact that a combination of different mechanical parameters is crucial for the development of soft sensor technology, particularly in terms of soft sensing capabilities [ 17 , 18 , 19 ]. Therefore, this study presented a combination of different mechanical performances and sensitivities of MA foam in terms of various physical capabilities such as magnetostriction, normal force, storage modulus, shear stress and torque.…”

Section: Introductionmentioning

confidence: 99%

Sensitivities of Rheological Properties of Magnetoactive Foam for Soft Sensor Technology

Norhaniza

Mazlan

Ubaidillah

et al. 2021

Sensors

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Magnetoactive (MA) foam, with its tunable mechanical properties and magnetostriction, has the potential to be used for the development of soft sensor technology. However, researchers have found that its mechanical properties and magnetostriction are morphologically dependent, thereby limiting its capabilities for dexterous manipulation. Thus, in this work, MA foam was developed with additional capabilities for controlling its magnetostriction, normal force, storage modulus, shear stress and torque by manipulating the concentration of carbonyl iron particles (CIPs) and the magnetic field with regard to morphological changes. MA foams were prepared with three weight percentages of CIPs, namely, 35 wt.%, 55 wt.% and 75 wt.%, and three different modes, namely, zero shear, constant shear and various shears. The results showed that the MA foam with 75 wt.% of CIPs enhanced the normal force sensitivity and positive magnetostriction sensitivity by up to 97% and 85%, respectively. Moreover, the sensitivities of the storage modulus, torque and shear stress were 8.97 Pa/mT, 0.021 µN/mT, and 0.0096 Pa/mT, respectively. Meanwhile, the magnetic dipolar interaction between the CIPs was capable of changing the property of MA foam from a positive to a negative magnetostriction under various shear strains with a low loss of energy. Therefore, it is believed that this kind of highly sensitive MA foam can potentially be implemented in future soft sensor systems.

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Magnetostrictive Tactile Sensor Array for Robotic Grasping

Zhao

Wang

Gao

et al. 2021

Proceedings of 2021 Chinese Intelligent Automation Conference

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Design and Output Characteristics of Magnetostrictive Tactile Sensor for Detecting Force and Stiffness of Manipulated Objects

Cited by 43 publications

References 21 publications

A Magnetostrictive Tactile Sensing Unit and the Integration of Sensor Array for Intelligent Manipulator

A Magnetostrictive Tactile Sensing Unit and the Integration of Sensor Array for Intelligent Manipulator

Sensitivities of Rheological Properties of Magnetoactive Foam for Soft Sensor Technology

Magnetostrictive Tactile Sensor Array for Robotic Grasping

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