A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability
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.
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BibTeX
@misc{yang2026robust,
title = {{A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability}},
author = {Ying Yang and Mingwei Gu and Jia-Sen Xie and Xingyu Ma and Yan-Na Lu and Lin Zheng and Jinhui Gu and Junshuai Chen and Yunjie Lu and Denys Makarov and Jin Ge},
howpublished = {arXiv},
year = {2026},
month = sep,
doi = {10.48550/arxiv.2609.36558},
eprint = {2609.36558},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2609.36558},
note = {CC BY 4.0},
}
RIS
TY - UNPB
TI - A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability
AU - Ying Yang
AU - Mingwei Gu
AU - Jia-Sen Xie
AU - Xingyu Ma
AU - Yan-Na Lu
AU - Lin Zheng
AU - Jinhui Gu
AU - Junshuai Chen
AU - Yunjie Lu
AU - Denys Makarov
AU - Jin Ge
PY - 2026
DA - 2026/09/29
PB - arXiv
DO - 10.48550/arxiv.2609.36558
UR - https://arxiv.org/abs/2609.36558
AB - 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.
ER -