Electromagnetic Multi-dimensional Force Sensor Based on Hall Effect

Multi-dimensional force sensor is a key technology to realize autonomous robot operation. In this paper, an electromagnetic multidimensional force sensor based on Hall effect is proposed. To address the issue of low accuracy in force characterization using traditional Hall effect sensors, a mechanical structure was designed to characterize the magnitude of the force by measuring the change in distance between the magnet and the Hall element. In addition, in order to enhance the number of loading/unloading cycles, an elastic film was fabricated using silica gel to realize the rebound reset effect. A specialized experimental platform was constructed to evaluate the performance of the designed sensor. The experimental results demonstrate that the sensor is capable of detecting both normal and tangential forces, as well as identifying the direction of the tangential force. This study will help to design better multidimensional force sensors.