Bio-inspired ciliary force sensor for robotic platforms

Pedro Ribeiro; Mohammed Asadullah Khan; Ahmed Alfadhel; Jürgen Kosel; Fernando Franco; Susana Cardoso; Alexandre Bernardino; Alexander Schmitz; Jose Santos-Victor; Lorenzo Jamone

doi:10.1109/lra.2017.2656249

Bio-inspired ciliary force sensor for robotic platforms

Pedro Ribeiro, Mohammed Asadullah Khan, Ahmed Alfadhel, Jürgen Kosel, Fernando Franco, Susana Cardoso, Alexandre Bernardino, Alexander Schmitz, Jose Santos-Victor, Lorenzo Jamone

Research output: Contribution to journal › Article › peer-review

42 Scopus citations

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.

Original language	English (US)
Pages (from-to)	971-976
Number of pages	6
Journal	IEEE Robotics and Automation Letters
Volume	2
Issue number	2
DOIs	https://doi.org/10.1109/lra.2017.2656249
State	Published - Jan 20 2017

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: 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.

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title = "Bio-inspired ciliary force sensor for robotic platforms",

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.",

author = "Pedro Ribeiro and Khan, {Mohammed Asadullah} and Ahmed Alfadhel and J{\"u}rgen Kosel and Fernando Franco and Susana Cardoso and Alexandre Bernardino and Alexander Schmitz and Jose Santos-Victor and Lorenzo Jamone",

note = "KAUST Repository Item: Exported on 2020-10-01 Acknowledgements: This letter was recommended for publication by Associate Editor C. Natale and Editor Prof. J.Wen upon evaluation of the reviewers{\textquoteright} 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.",

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AU - Ribeiro, Pedro

AU - Khan, Mohammed Asadullah

AU - Alfadhel, Ahmed

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AU - Franco, Fernando

AU - Cardoso, Susana

AU - Bernardino, Alexandre

AU - Schmitz, Alexander

AU - Santos-Victor, Jose

AU - Jamone, Lorenzo

N1 - KAUST Repository Item: Exported on 2020-10-01 Acknowledgements: 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.

PY - 2017/1/20

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N2 - 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.

AB - 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.

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Bio-inspired ciliary force sensor for robotic platforms

Abstract

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