3-axis Soft Magnetic Force Sensor
Tiago Paulino1,2, Plinio Moreno2, Alexandre Bernardino2 and Lorenzo Jamone3
1Physics Department, Instituto Superior T´ecnico, Lisbon, Portugal
2Instituto de Sistemas e Rob´otica, Instituto Superior T´ecnico, Lisbon, Portugal
3Advanced Robotics at Queen Mary, Queen Mary University of London, United Kingdom
We present a low-cost, soft and easy to fabricate 3-axis force sensor, based on magnetic technology. The sensors design, fabrication and characterization are described, together with a real object manipulation experiment. The proposed design assures high sensitivity, low hysteresis and good repeatability of the measurements.