Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together

Walck G, Perdereau V (2014)
In: Proceedings of 2014 IEEE International Conference on Robotics and Automation. Hong Kong, China: IEEE: 4906-4911.

Conference Paper | Published | English

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Abstract
In the process of developing human-like robotic hands, engineers are looking for robust and accurate sensors that can fit in very confined spaces. Rotary encoders that measure joint angles of a multi-fingered hand must be of very small size and yet provide reliable and repetitive data. Hall-effect sensors combined with ring magnets have proved to be efficient and durable rotary magnetic position sensors mainly due to their contact-less features. However, when several sensors of this kind are packed closely together in a finger, magnetic crosstalk effects appear and can lead to important errors/shifts in nearby sensor readings. This paper describes magnetic crosstalk effects in nearby joints and proposes a compensation method directly linked with the software calibration process.
Publishing Year
Conference
ICRA'14
Location
Hong Konh, China
Conference Date
2014-05-31 – 2014-06-07
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Walck G, Perdereau V. Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together. In: Proceedings of 2014 IEEE International Conference on Robotics and Automation. Hong Kong, China: IEEE; 2014: 4906-4911.
Walck, G., & Perdereau, V. (2014). Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together. Proceedings of 2014 IEEE International Conference on Robotics and Automation, 4906-4911.
Walck, G., and Perdereau, V. (2014). “Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together” in Proceedings of 2014 IEEE International Conference on Robotics and Automation (Hong Kong, China: IEEE), 4906-4911.
Walck, G., & Perdereau, V., 2014. Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together. In Proceedings of 2014 IEEE International Conference on Robotics and Automation. Hong Kong, China: IEEE, pp. 4906-4911.
G. Walck and V. Perdereau, “Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together”, Proceedings of 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China: IEEE, 2014, pp.4906-4911.
Walck, G., Perdereau, V.: Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together. Proceedings of 2014 IEEE International Conference on Robotics and Automation. p. 4906-4911. IEEE, Hong Kong, China (2014).
Walck, Guillaume, and Perdereau, Véronique. “Software Compensation of Magnetic Crosstalk on Hall-Effect-based Rotary Encoders Close Together”. Proceedings of 2014 IEEE International Conference on Robotics and Automation. Hong Kong, China: IEEE, 2014. 4906-4911.
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