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 1.1Nmm when deflected up to 19:7. The sensitivity of the sensor was 0:38/LSB for the angular displacement sensing, and 0:021Nmm/LSB for the moment sensing. A fully integrated system is demonstrated to display real-time information from the whisker on a graphical interface.
A Magnetically Transduced Whisker for Angular Displacement and Moment Sensing
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.
- Award ID(s):
- 1734981
- Publication Date:
- NSF-PAR ID:
- 10293476
- Journal Name:
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Page Range or eLocation-ID:
- 665 to 671
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Publisher's Version of Record
- https://doi.org/10.1109/IROS40897.2019.8968518
