Magnetic tactile sensing method with Hall element for artificial finger

This paper describes a magnetic tactile sensor with Indium antimonide (InSb) Hall elements for multifunctional sensing devices to detect the normal contact force and the temperature. This sensor consists of two Hall elements and a magnet that are embedded in a silicone rubber. The temperature characteristic of InSb Hall elements depends on the bias circuit to generate the Hall voltage. Two output Hall voltages driven by two kinds of bias circuits were measured in the normal contact force range from 0 to 50 N, the temperature range from -10 to 50°. The inverse response surface to identify the normal contact force and the temperature was formulated using the experimental results.