Three-dimensional whisker sensor for accurate positioning of end location

A three-dimensional whisker sensor for accurate positioning of an end location, the whisker sensor is configured to be mounted on a robot body or an end of a mechanical arm for determining a spatial location of an object in contact with the whisker sensor relative to the body,

• the whisker sensor comprising:
• an upper circuit board,
• a lower circuit board,
• a flexible whisker,
• a magnet,
• four Hall sensors,
• a contact sensor,
• an upright column, and
• a fastener,
• wherein the upper circuit board and the lower circuit board are printed circuit boards and are identical in shape and size, and four positioning holes of the upper circuit board and four positioning holes of the lower circuit board are located at respective and corresponding locations spaced from outer edges of each respective printed circuit board in a cross fashion;
• wherein a circular hole is formed at a center of the upper circuit board and defines a range within which the flexible whisker can move freely, a center of the circular hole coincides with the center of the circuit board, and the four Hall sensors are symmetrically distributed on an edge of the circular hole in cross fashion;
• four pins from the contact sensor are connected to a bonding pad of the lower circuit board by solder;
• the upper circuit board and the lower circuit board are connected by the upright column through a positioning hole of the four positioning holes of the upper circuit board and a positioning hole of the four positioning holes of the lower circuit board, and the upright column is fixed to the upper circuit board and the lower circuit board by the fastener;
• the flexible whisker is connected to the contact sensor by a connecting piece, and is connected to the magnet by a through hole;
• an upper surface of the magnet is flush with an upper surface of the four Hall sensors;
• a signal of the four Hall sensors or the contact sensor is configured to be connected to an external circuit by soldering holes;
• and
• the center of the upper circuit board, a center of the lower circuit board, a center of the contact sensor, and a center of the magnet are all located on a straight line where the flexible whisker is located.