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Experimental Verification of Inductance Model for a Novel Magnetoelectric Tactile Sensor*

Tactile sensor is significant for robotic systems to interact safely and effectively with the external world, and it also is an important component to realize dexterous operation and improve the level of intelligence for robots, such as dexterous hand and manipulator. Because the simulation cannot reliably verify the inductance calculation mathematical model for magnetoelectric tactile sensor design, this paper designs an experimental verification method. The method establishes a mutual inductance measurement platform, which mainly comprises a coils module, a gating module and a control module, and a series method is used to measure the mutual inductance between a primary coil and a secondary coil of a tactile sensor. The experimental results reasonably confirm the validity of the mutual inductance mathematical model. Within an allowable range of errors, the calculated results by the mathematical model are basically consistent with the experimental results. This paper provides an in-depth analysis on the causes of errors in this measurement experiment and points out the change trend of mutual inductance between coils when the secondary coils are in different ratios of pitch to radius. Finally, this paper also finds a horizontal position interval with relatively stable mutual inductance values, which is beneficial to the optimal design for a magnetoelectric tactile sensor.