A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability

📅 2026-09-28
📈 Citations: 0
✨ Influential: 0
📄 PDF
🤖 AI Summary
This study addresses the limitations of existing tactile sensors in decoupling multimodal signals and maintaining stability by proposing a flexible surface sensor based on the Hall effect and soft magnetic composites. Employing a single sensing element design within an elastic framework, the sensor leverages a magneto-mechanical sensing mechanism to eliminate stress crosstalk, enabling real-time and precise discrimination between pressure and adhesion forces with baseline-separated signals. With highly reliable bimodal perception as its core innovation, this work significantly enhances robotic capabilities in evaluating object stickiness, monitoring aging, and performing dexterous manipulation.
📝 Abstract
Integrating tackiness sensation into the artificial skin of humanoid robots significantly enhances their cognitive and operational capabilities. However existing tactile sensors face challenges in decoupling of the multimodal signal and stability. Here we present a surface-soft tactile sensor that incorporates a Hall effect sensor and a soft magnetic composite within a robust elastic framework. The sensor surface indents under pressure and bulges prominently when retracted from sticky surfaces dynamically altering the Hall sensor-magnet distance. This generates whole-process-traceable and baseline-separated signals enabling real-time differentiation between pressure and pull-off force. This single-sensing-element design facilitates bimodal sensing at the same contact spot while eliminate stress cross-talk enhancing both accuracy and sensitivity. The fusion of a robust framework and magneto-mechanical sensing mechanism equips the sensor with exceptional reliability and excellent signal baseline stability. This tactile sensor holds substantial potential for advancing robotic capabilities in evaluating adhesive properties monitoring rubber aging precisely handling lightweight objects and cognizing natural objects surface characteristics.
Problem

Research questions and friction points this paper is trying to address.

tactile sensor
multimodal signal decoupling
tackiness detection
pressure sensing
signal stability
Innovation

Methods, ideas, or system contributions that make the work stand out.

Tactile sensor
Signal decoupling
Hall effect
Bimodal sensing
Magneto-mechanical mechanism
🔎 Similar Papers
No similar papers found.
💼 Related Jobs
No related jobs found.
Affiliations2
Helmholtz-Zentrum Dresden-Rossendorf
Sun Yat-sen University
Authors to Follow
Y
Ying Yang
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
M
Mingwei Gu
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
J
Jia-Sen Xie
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
Xingyu Ma
Xingyu Ma
Facebook
Y
Yan-Na Lu
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
L
Lin Zheng
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
J
Jinhui Gu
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
J
Junshuai Chen
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
Y
Yunjie Lu
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China
D
Denys Makarov
Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Dresden 01328, Germany
J
Jin Ge
MOE Laboratory of Bioinorganic and Synthetic Chemistry, GBRCE for Functional Molecular Engineering, LIFM, IGCME, School of Chemistry, Sun Yat-Sen University, Guangzhou 510006, China