磁気抵抗素子とインダクタを用いた磁気式触覚センサ(機械力学,計測,自動制御)

抄録

A novel magnetic type tactile sensor is proposed that can measure a three-axis force and detect slips. Its simple structure comprises two layers, an elastic layer, and a substrate layer. The elastic layer is made of an elastic material and has a cylindrical permanent magnet. The substrate layer is a glass epoxy board and has four GMR (giant magneto resistance) elements and four chip inductors. Each element outputs voltages depending on a magnetic flux density when the elastic layer deforms as the result of contact. A triaxial force and slip detection ae calculated from these outputs. Laboratory experiments have demonstrated the sensor's effectiveness.