Development of a Compliant Magnetic 3-D Tactile Sensor with AMR Elements

Abstract

In this paper, a novel compliant magnetic tactile sensor which can measure both normal and shear force is proposed. The sensor is composed of an elastic dome with a cylindrical permanent magnet bonded to the internal surface and a 3-axis anisotropic magneto resistive(AMR) chip fixed on the rigid substrate. Output voltages of AMR chip change with the displacement of magnet when the elastic dome deforms by contact. The measurement of a prototype sensor shows that the full-scale ranges of detectable forces are about 4N, 4N and 20N for the x-, y-, and z-directions, respectively. In this ranges, output voltages change linearly with the contact forces.