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C h a p t e r 6 | A D M T 4 0 0 0 D e s i g n , I m p l e m e n t a t i o n , a n d A p p l i c a t i o n s To illustrate the working principle, consider a simplified two-turn sensor. This sensor includes a domain wall generator, depicted by an arrow within a bubble, and a solid arrow representing the sensor itself. The ADMT4000 sensor and its next-generation improvements embody advancements in rotary actuator technology and multi-turn sensing. By utilizing the principle of shape anisotropy and sensor design, these sensors enable accurate and efficient multi-turn sensing while simplifying actuator design, reducing costs, and decreasing weight. As the technology continues to evolve, it opens the door to enhanced performance and new possibilities in various applications, from robotics to humanoid joints and beyond. Multi-Turn Sensor Technical Details At the core of the magnetic position sensor is a nanowire spiral structure that enhances its performance. As the magnet rotates, domain walls are generated and shifted through the spiral, altering the resistance at different measurement points. The spiral's color-coded diagram illustrates the direction of the magnetic field and the resistance levels of the nanowire tracks, with blue indicating low resistance and red signifying high resistance. The sensor's capability to track the magnet's position even when the system is powered down makes it suitable for applications requiring continuous position monitoring. As the magnet rotates either clockwise or counterclockwise, domain walls fill the spiral, changing the resistance of its arms. This process continues until the sensor reaches its maximum turn count of two turns, ensuring precise position tracking at all times. 19 Engineering Reliable Industrial Automation With Sensor Fusion