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https://open.uns.ac.rs/handle/123456789/3579
Title: | 3-axis contact force fingertip sensor based on hall effect sensor | Authors: | Raković, Mirko Beronja M. Batinica A. Nikolić, Milica Borovac, Branislav |
Issue Date: | 1-Jan-2017 | Journal: | Advances in Intelligent Systems and Computing | Abstract: | © Springer International Publishing AG 2017. The paper describes the prototype of a novel embedded 3-axis force sensor which is intended to be used for detecting and measuring the contact forces at the fingertips of a robotic hand when grasping and manipulating objects. The sensor is composed of three main parts: a printed circuit board with Hall effect sensors, a neodymium magnet and a elastic silicon layer. The dimensions of the sensor that should be placed at the fingertip are minimized to fit the size of a human inspired robotic hand. The signal processing of the data obtained from the Hall effect sensors is completely done with an ARM Cortex-M4 micro-controller with implemented neural network. The target data which is used for training the neural network is obtained from reference precise 6 axis force/torque sensor. The experimental setup as well as the procedure for acquiring the training data set, learning and implementing the neural network on embedded platform are presented. | URI: | https://open.uns.ac.rs/handle/123456789/3579 | ISBN: | 9783319490571 | ISSN: | 21945357 | DOI: | 10.1007/978-3-319-49058-8_10 |
Appears in Collections: | FTN Publikacije/Publications |
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