Design and Characterization of High-Sensitivity Magnetostrictive Tactile Sensor Array

摘要

A new high-sensitivity magnetostrictive tactile sensor array is designed based on the inverse magnetostrictive effect and tunnel magnetoresistance to enable intelligent robots to have a sensitive sense of touch and perform delicate operations. The output voltage model of the tactile sensor is developed. The optimal bias field and spacing of the sensor unit are determined using COMSOL Multiphysics. Test platforms for static and dynamic characteristics are built. The output characteristics of the tactile sensor under static and dynamic forces are tested. The sensitivity is compared with that of other types of tactile sensors. The tactile sensor units are set into a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$2\times3$ </tex-math></inline-formula> sensor array and the coupling effect of the output voltage of each unit in the array is tested. The experimental results show that the experimental value of the output voltage matches the calculated value with a maximum error of 3.47%. The sensitivity of the tactile sensor is 323 mV/N at 0–4 N static force, which is higher compared to other types of tactile sensors. The sensitivity of the sensor unit changes less than 1.15% at 1–4 Hz dynamic force. The interaction of output voltage between units in the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$2\times3$ </tex-math></inline-formula> tactile sensor array does not exceed 1.5% and is negligible. The <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$2\times3$ </tex-math></inline-formula> tactile sensor array is attached to a three-finger manipulator for grasping objects with a different hardness. The results of the study have guiding significance to the design of high-sensitivity tactile sensors for intelligent robots.