Integration of Hall-Effect Sensor Modules to Gear and Pedal Positions Sensing Robotics System

This paper highlights the non-contact sensing with a permanent super magnet, Neodymium, and linear Hall-effect sensors, which gauge the rotary robotic system for precise linear positioning during remote control of gear and pedal shifting in a test car. Through such contactless sensing and gauging, there is no wear of parts, resulting in high repeatability that allows a remote human operator (RHO) to interface with rotary stepper motors and position the clutch, accelerator pedals, and gear knob precisely. This ensures that the vehicle can be driven at the appropriate speed with the correct gears, following a preset driving cycle procedure or manual switch control through the in-house built robotic system. Notably, the Hall-effect sensors offer several advantages, including high linearity, low latency (2 ms), high output resolution (400 µm), and high accuracy (1.8°) for gear and pedal positioning control in an open-loop architecture. The integration of Hall-effect sensor modules in the robotic driving mechanism makes real-time monitoring of the car's performance feasible, while the potential for remote and unmanned control of the car's physical processes can be adapted to meet geographical requirements for various users.