A Magnetically Transduced Whisker for Angular Displacement and Moment Sensing

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(2019)

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摘要
This work presents the design, modeling, and fabrication of a whisker-like sensor capable of measuring the whisker's angular displacement as well as the applied moments at the base of the whisker. The sensor takes advantage of readily accessible and low-cost 3D magnetic sensors to transduce whisker deflections, and a planar serpentine spring structure at the whisker base is used to provide a mechanical suspension for the whisker to rotate. The sensor prototype was characterized, calibrated, and compared with analytical models of the spring system and the magnetic field. The prototype showed a moment sensing range of 1.1N·mm when deflected up to 19.7°. The sensitivity of the sensor was 0.38°/LSB for the angular displacement sensing, and 0.021 Nmm/LSB for the moment sensing. A fully integrated system is demonstrated to display real-time information from the whisker on a graphical interface.
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关键词
3D magnetic field sensors,moment sensing,angular displacement sensing,planar serpentine spring structure,3D magnetic sensors,magnetically transduced whisker deflections,whisker-like sensor,angular displacement measurement,mechanical suspension,calibration,graphical interface
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