Abstract
A novel tactile sensor using Giant Magnetic Resistive (GMR) elements and a permanent magnet have been proposed in our previous study. The output voltage of GMR elements depend on magnetic flux density of a permanent magnet. The proposed has difficulty in measuring three-axis displacement of (Δx, Δy, Δz) when the magnet is rotating. In this paper, we propose the formulation which can measure displacement of (Δx, Δy, Δz) and also two rotation angle of (Φx, Φz) of a permanent magnet. We calculate the displacement vector using the regression analysis of the magnetic field which has analyzed preliminarily. Numerical results showed a good agreement with theoretical displacement of (Δx, Δy, Δz, Φx, Φz).
