@article{Yan2021SoftMagnetic,

title = {Soft Magnetic Skin for Super-Resolution Tactile Sensing with Force Self-Decoupling},

author = {Youcan Yan and Zhe Hu and Zhengbao Yang and Wenzhen Yuan and Chaoyang Song and Jia Pan and Yajing Shen},

doi = {10.1126/scirobotics.abc8801},

year  = {2021},

date = {2021-02-24},

urldate = {2021-02-24},

journal = {Science Robotics},

volume = {6},

number = {51},

pages = {eabc8801},

abstract = {Human skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for robotic applications are inferior, lacking accurate force decoupling and proper spatial resolution at the same time. Here, we present a soft tactile sensor with self-decoupling and super-resolution abilities by designing a sinusoidally magnetized flexible film (with the thickness ~0.5 millimeters), whose deformation can be detected by a Hall sensor according to the change of magnetic flux densities under external forces. The sensor can accurately measure the normal force and the shear force (demonstrated in one dimension) with a single unit and achieve a 60-fold super-resolved accuracy enhanced by deep learning. By mounting our sensor at the fingertip of a robotic gripper, we show that robots can accomplish challenging tasks such as stably grasping fragile objects under external disturbance and threading a needle via teleoperation. This research provides new insight into tactile sensor design and could be beneficial to various applications in robotics field, such as adaptive grasping, dexterous manipulation, and human-robot interaction.},

keywords = {Authorship - Co-Author, JCR Q1, Jour - Sci. Robot. (SciRob)},

pubstate = {published},

tppubtype = {article}

}