{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T02:46:16Z","timestamp":1775097976588,"version":"3.50.1"},"reference-count":18,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2016,4,7]],"date-time":"2016-04-07T00:00:00Z","timestamp":1459987200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents an easy means to produce a 3-axis Hall effect\u2013based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.<\/jats:p>","DOI":"10.3390\/s16040491","type":"journal-article","created":{"date-parts":[[2016,4,7]],"date-time":"2016-04-07T11:52:48Z","timestamp":1460029968000},"page":"491","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":101,"title":["Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor"],"prefix":"10.3390","volume":"16","author":[{"given":"Tito","family":"Tomo","sequence":"first","affiliation":[{"name":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2601-2934","authenticated-orcid":false,"given":"Sophon","family":"Somlor","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan"}]},{"given":"Alexander","family":"Schmitz","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan"}]},{"given":"Lorenzo","family":"Jamone","sequence":"additional","affiliation":[{"name":"Instituto de Sistemas e Rob\u00f3tica, Instituto Superior T\u00e9cnico, Lisbon 1049-001, Portugal"}]},{"given":"Weijie","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan"}]},{"given":"Harris","family":"Kristanto","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan"}]},{"given":"Shigeki","family":"Sugano","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan"}]}],"member":"1968","published-online":{"date-parts":[[2016,4,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4121","DOI":"10.1109\/JSEN.2013.2279056","article-title":"Directions toward effective utilization of tactile skin: A review","volume":"13","author":"Dahiya","year":"2013","journal-title":"IEEE Sens. J."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1375","DOI":"10.1080\/01691864.2015.1092394","article-title":"A Novel Tri-axial Capacitive-Type Skin Sensor","volume":"29","author":"Somlor","year":"2015","journal-title":"Adv. Robot."},{"key":"ref_3","unstructured":"Tomo, T.P., Somlor, S., Jamone, L., Schmitz, A., Hashimoto, S., and Sugano, S. (2015, January 1\u20134). Development of a Hall-Effect Based Skin Sensor. Proceedings of the IEEE Sensors Conference, Busan, Korea."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","article-title":"Tactile Sensing\u2014From Humans to Humanoids","volume":"26","author":"Dahiya","year":"2010","journal-title":"IEEE Trans. Robot."},{"key":"ref_5","unstructured":"ShokacPot\u2122 ShokacCube\u2122, Innovation unique \u2018Soft\u2019 tactile sensor. Available online: http:\/\/www.touchence.jp."},{"key":"ref_6","unstructured":"Yamada, K., Goto, K., Nakajima, Y., Koshida, N., and Shinoda, H. 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Available online: http:\/\/www.melexis.com\/Position--Speed-Sensors\/Triaxis%C2%AE-Hall-ICs\/Triaxis%C2%AE-Micropower-Magnetometer-829.aspx."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/4\/491\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:21:53Z","timestamp":1760210513000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/4\/491"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,4,7]]},"references-count":18,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2016,4]]}},"alternative-id":["s16040491"],"URL":"https:\/\/doi.org\/10.3390\/s16040491","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,4,7]]}}}