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Magnetic Field Modelling of a Soft Three-Axis Force Sensor

Research output: Contribution to journalArticlepeer-review

Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, Shinichi Hirai

Original languageEnglish
Accepted/In pressFeb 2016


  • Sensors Journal

    Sensors_Journal.pdf, 3.39 MB, application/pdf

    Uploaded date:01 Apr 2016

    Version:Accepted author manuscript

King's Authors


This paper describes the modelling of a soft three
axis force sensor. The sensor has a cylindrical cantilever beam
made of silicone rubber that compress and bend when normal
and tangential forces are applied. The displacement of the beam’s
end is calculated by measuring the change of the magnetic field
emitted by a permanent magnet embedded in the soft beam.
Spring theory and bending theory, are used to calculate the
normal and tangential force components. The normal forces
calculated by the proposed model and the measured values has an
error less than 5% validating the analogy of the sensor to a soft
cantilever beam under compression and bending. The proposed
mathematical model is simple and faster than a finite element
model, and accurately represents the non-linear behavior of the
sensor’s physical effects to applied loads.

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