XELA Robotics January 22, 2024 uSPa44-S
uSkin uSPa44
1 Overview
• Hall-eect-based tactile sensor
• Multi-taxel (distributed) sensing
• 3-axis force measurement per taxel
• So skin
• 133 Hz of sampling rate
• Built-in temperature dri compensation
• 2 dierent sensitivities (pre-programmed)
2 Technical specification
Value Unit
Power voltage (sensor) 2.2 - 3.6 V
Power voltage (microcontroller) 5 V
Current consumption 17.5 (43.5
∗1
) mA
Sampling frequency 133 Hz
Dimensions 24.6*22.6*5.5 (without cable) mm
Weight 3.6 (without cable) g
Measurement range (x & y)
∗2
± 1800 LSB
Measurement range (z)
∗2
+17400 LSB
Noise (x & y)
∗2
± 0.027 % to max range
Noise (z)
∗2
± 0.042 % to max range
number of taxels 16 −−
*1 including the microcontroller
*2 In case of sensitivity H
3 Sensitivity/ Resolution
uSPa44-S has two dierent sensitivity seings, indicated by the leer "S" or "H". This sensitivity seing will
determine the sensor’s measurement range. The details of the sensor’s response (for one sensing point, i.e.
force is applied to one taxel) can be seen in Fig. 1 and 2. The standard model of uSPa44 has sensitivity "H"
as its default seing. Please contact XELA Robotics in order to request a uSPa44 with dierent sensitivities.
1
XELA Robotics January 22, 2024 uSPa44-S
Figure 1:
uSPa44 normal force (z-axis) output with two sensitivity seings
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Force (N)
-2000
-1500
-1000
-500
0
500
1000
1500
2000
uSkin Raw Output (LSB)
X-axis S="L"
Y-axis S="L"
X-axis S="H"
Y-axis S="H"
Figure 2:
uSPa44 shear forces (x and y-axis) output with two sensitivity seings
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