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    Bio-inspired ciliary force sensor for robotic platforms

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    Type
    Article
    Authors
    Ribeiro, Pedro cc
    Khan, Mohammed Asadullah cc
    Alfadhel, Ahmed cc
    Kosel, Jürgen cc
    Franco, Fernando
    Cardoso, Susana
    Bernardino, Alexandre cc
    Schmitz, Alexander cc
    Santos-Victor, Jose cc
    Jamone, Lorenzo cc
    KAUST Department
    Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
    Electrical Engineering Program
    Date
    2017-01-20
    Online Publication Date
    2017-01-20
    Print Publication Date
    2017-04
    Permanent link to this record
    http://hdl.handle.net/10754/623799
    
    Metadata
    Show full item record
    Abstract
    The detection of small forces is of great interest in any robotic application that involves interaction with the environment (e.g., objects manipulation, physical human-robot interaction, minimally invasive surgery), since it allows the robot to detect the contacts early on and to act accordingly. In this letter, we present a sensor design inspired by the ciliary structure frequently found in nature, consisting of an array of permanently magnetized cylinders (cilia) patterned over a giant magnetoresistance sensor (GMR). When these cylinders are deformed in shape due to applied forces, the stray magnetic field variation will change the GMR sensor resistivity, thus enabling the electrical measurement of the applied force. In this letter, we present two 3 mm × 3 mm prototypes composed of an array of five cilia with 1 mm of height and 120 and 200 μm of diameter for each prototype. A minimum force of 333 μN was measured. A simulation model for determining the magnetized cylinders average stray magnetic field is also presented.
    Citation
    Ribeiro P, Khan MA, Alfadhel A, Kosel J, Franco F, et al. (2017) Bioinspired Ciliary Force Sensor for Robotic Platforms. IEEE Robotics and Automation Letters 2: 971–976. Available: http://dx.doi.org/10.1109/lra.2017.2656249.
    Sponsors
    This letter was recommended for publication by Associate Editor C. Natale and Editor Prof. J.Wen upon evaluation of the reviewers’ comments. This work was supported in part by EXCL/CTM-NAN/0441/2012, in part by PTDC/CTMNAN/3146/2014, and in part by UID/EEA/50009/2013 projects. The work of F. Franco was supported by FCT under Grant SFRH/BD/111538/2015 and the work of L. Jamone was supported by LIMOMAN–PIEFGA-2013-628315.
    Publisher
    Institute of Electrical and Electronics Engineers (IEEE)
    Journal
    IEEE Robotics and Automation Letters
    DOI
    10.1109/lra.2017.2656249
    Additional Links
    http://ieeexplore.ieee.org/document/7827912/
    ae974a485f413a2113503eed53cd6c53
    10.1109/lra.2017.2656249
    Scopus Count
    Collections
    Articles; Electrical and Computer Engineering Program; Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

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