Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects

Highly Sensitive Hall Sensors Based on Chemical Vapor Deposition Graphene

In this work, we demonstrate highly sensitive and scalable Hall sensors fabricated by adopting arrays of monolayer single-crystal chemical vapor deposition (CVD) graphene. The devices are based on graphene Hall bars with a carrier mobility of >12000 cm2 V-1 s-1 and a low residual carrier density of ∼1 × 1011 cm-2, showing Hall sensitivity higher than 5000 V A-1 T-1, which is a value previously only achieved when using exfoliated graphene encapsulated with flakes of hexagonal boron nitride. We also implement a facile and scalable polymeric encapsulation, allowing the performance of graphene Hall bars to be stabilized when measured in an ambient environment. We demonstrate that this capping method can reduce the degradation of electrical transport properties when the graphene devices are kept in air over 10 weeks. State-of-the-art performance of the realized devices, based on scalable synthesis and encapsulation, contributes to the proliferation of graphene-based Hall sensors.

A tactile and airflow motion sensor based on flexible double-layer magnetic cilia

Inspired by the concept of bionics, a tactile and airflow motion sensor based on flexible double-layer magnetic cilia is developed, showing extremely high sensitivity in both force and airflow detection. The upper layer of the magnetic cilia is a flexible material mixed with magnetic particles, while the lower layer is a pure flexible material. This double-layer structure significantly improves magnetism while maintaining cilia flexibility. In addition, a metal tube pressing (MTP) method is proposed to overcome the difficulties in preparing large aspect ratio (over 30:1) cilia, offering simplicity and avoiding the use of large-scale MEMS instruments. The developed sensor has a detection range between 0 and 60 µN with a resolution of 2.1 µN for micro forces. It also shows great detection ability for airflow velocity with a sensitivity of 1.43 µT/(m/s). Experiments show that the sensor could be applied in surface roughness characterization and sleep apnea monitoring.

Recent Progress of Biomimetic Tactile Sensing Technology Based on Magnetic Sensors

In the past two decades, biomimetic tactile sensing technology has been a hot spot in academia. It has prospective applications in many fields such as medical treatment, health monitoring, robot tactile feedback, and human-machine interaction. With the rapid development of magnetic sensors, biomimetic tactile sensing technology based on magnetic sensors (which are called magnetic tactile sensors below) has been widely studied in recent years. In order to clarify the development status and application characteristics of magnetic tactile sensors, this paper firstly reviews the magnetic tactile sensors from three aspects: the types of magnetic sensors, the sources of magnetic field, and the structures of sensitive bodies used in magnetic tactile sensors. Secondly, the development of magnetic tactile sensors in four applications of robot precision grasping, texture characterization, flow velocity measurement, and medical treatment is introduced in detail. Finally, this paper analyzes technical difficulties and proposes prospective research directions for magnetic tactile sensors.

Tactile Sensors for Parallel Grippers: Design and Characterization

Tactile data perception is of paramount importance in today’s robotics applications. This paper describes the latest design of the tactile sensor developed in our laboratory. Both the hardware and firmware concepts are reported in detail in order to allow the research community the sensor reproduction, also according to their needs. The sensor is based on optoelectronic technology and the pad shape can be adapted to various robotics applications. A flat surface, as the one proposed in this paper, can be well exploited if the object sizes are smaller than the pad and/or the shape recognition is needed, while a domed pad can be used to manipulate bigger objects. Compared to the previous version, the novel tactile sensor has a larger sensing area and a more robust electronic, mechanical and software design that yields less noise and higher flexibility. The proposed design exploits standard PCB manufacturing processes and advanced but now commercial 3D printing processes for the realization of all components. A GitHub repository has been prepared with all files needed to allow the reproduction of the sensor for the interested reader. The whole sensor has been tested with a maximum load equal to 15N, by showing a sensitivity equal to 0.018V/N. Moreover, a complete and detailed characterization for the single taxel and the whole pad is reported to show the potentialities of the sensor also in terms of response time, repeatability, hysteresis and signal to noise ratio.

A Comprehensive Review of Integrated Hall Effects in Macro-, Micro-, Nanoscales, and Quantum Devices

A comprehensive review of the main existing devices, based on the classic and new related Hall Effects is hereby presented. The review is divided into sub-categories presenting existing macro-, micro-, nanoscales, and quantum-based components and circuitry applications. Since Hall Effect-based devices use current and magnetic field as an input and voltage as output. researchers and engineers looked for decades to take advantage and integrate these devices into tiny circuitry, aiming to enable new functions such as high-speed switches, in particular at the nanoscale technology. This review paper presents not only an historical overview of past endeavors, but also the remaining challenges to overcome. As part of these trials, one can mention complex design, fabrication, and characterization of smart nanoscale devices such as sensors and amplifiers, towards the next generations of circuitry and modules in nanotechnology. When compared to previous domain-limited text books, specialized technical manuals and focused scientific reviews, all published several decades ago, this up-to-date review paper presents important advantages and novelties: Large coverage of all domains and applications, clear orientation to the nanoscale dimensions, extended bibliography of almost one hundred fifty recent references, review of selected analytical models, summary tables and phenomena schematics. Moreover, the review includes a lateral examination of the integrated Hall Effect per sub-classification of subjects. Among others, the following sub-reviews are presented: Main existing macro/micro/nanoscale devices, materials and elements used for the fabrication, analytical models, numerical complementary models and tools used for simulations, and technological challenges to overcome in order to implement the effect in nanotechnology. Such an up-to-date review may serve the scientific community as a basis for novel research oriented to new nanoscale devices, modules, and Process Development Kit (PDK) markets.