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A Soft Multiple-Degree Of Freedom Load Cell Based On The Hall Effect, Qiandong Nie

Masters Theses

The goal of this thesis is to develop a soft multiple-degree-of-freedom (multi-DOF) load cell that is robust and light weight for use in robotics applications to sense three axes of force and a single axis of torque. The displacement of the magnet within the elastomer changes the magnetic flux density which is sensed by two 3-axis Hall effect sensors. Experimental measurements of magnetic flux density within the area of interest were used to formulate analytic expressions that relate magnet field strength to the position of the magnet. The displacement and orientation measurement and the material properties of the elastomer are …