In this paper, we investigate the capabilities of a tactile sensor based on magneto-sensitive elastomers (MSEs).The main feature of the sensor is the determination of the position of indentation.The principle is based on inductance measurements of multiple planar coils and a soft magneto-sensitive layer.
The proposed prototype consists of a linear array of hexagonal coils with overlapping sections.First, the results of the HANKS experiments are presented, which include a sampling of a sensor region with indentations of constant depth.Subsequently, we introduce a mathematical model based on the bell-shaped flux density distribution of a planar coil.
This model consists of ellipse equations with three parameters and a polynomial fit for each parameter.Finally, solving the system Console Electronics of equations results in the determination of the x coordinate of the indentation.