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<p>Soft or flexible sensors have diverse applications in soft robotics and biomedical engineering. These sensors feature flexible bodies and other external objects compatible with human and animal soft tissues. They utilize different physical principles including resistive, inductive, and capacitive effects of materials to measure physical quantities such as temperature, pressure, tension, and angular displacement.&#xa0;This paper presents a flexible angle/tension sensor based on the Hall effect (Soft Magnetic Angle Sensor or SMAS). The sensor comprises a permanent magnet and a Hall effect sensor IC positioned near a small gap, encapsulated in soft silicon polymer. By changing the angle of one side of the flex sensor and consequently the magnet, the magnetic field’s average intensity in the magnetic sensor’s vicinity will change, resulting in measurable voltage output, proportional to the angle. The proposed structure enables the detection and measurement of folding, torsion, and tension.&#xa0;Experimental results show not only acceptable sensitivity, repeatability, hysteresis, and durability for the proposed sensor but also good compatibility, simple manufacturing, and low-cost materials.&#xa0;The proposed flexible sensor is well-suited for soft robotics and biomedical engineering applications, particularly in measuring bending angles, folding displacement, and tensile forces.</p>

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An Angle/Tension Flexible Sensor Based on Hall Effect Sensor and its Applications in Biomedical Engineering

  • 期刊论文

  • 发表日期：

    2025年11月6日

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  • Hadi Kolivand,
  • Azita Souri,
  • Arash Ahmadi

摘要

Soft or flexible sensors have diverse applications in soft robotics and biomedical engineering. These sensors feature flexible bodies and other external objects compatible with human and animal soft tissues. They utilize different physical principles including resistive, inductive, and capacitive effects of materials to measure physical quantities such as temperature, pressure, tension, and angular displacement. This paper presents a flexible angle/tension sensor based on the Hall effect (Soft Magnetic Angle Sensor or SMAS). The sensor comprises a permanent magnet and a Hall effect sensor IC positioned near a small gap, encapsulated in soft silicon polymer. By changing the angle of one side of the flex sensor and consequently the magnet, the magnetic field’s average intensity in the magnetic sensor’s vicinity will change, resulting in measurable voltage output, proportional to the angle. The proposed structure enables the detection and measurement of folding, torsion, and tension. Experimental results show not only acceptable sensitivity, repeatability, hysteresis, and durability for the proposed sensor but also good compatibility, simple manufacturing, and low-cost materials. The proposed flexible sensor is well-suited for soft robotics and biomedical engineering applications, particularly in measuring bending angles, folding displacement, and tensile forces.