MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping Feedback
Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sensing.
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Key points
- Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact.
- To reconstruct forces from the coupled magnetic channels, we propose causal history fusion regression (CHFR), which combines current magnetic-field measurements with their recent changes.
- Robotic experiments demonstrate tangential-force-guided gripper adjustment and multi-axis load monitoring under external perturbations.
- These results demonstrate 3D force reconstruction, grasping feedback, and surface recognition using a single compact tactile unit.
Sources (1)
- [1]MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping FeedbackarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 7, 06:38 AM
Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sensing.
Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact.
Extractive summary: sentences quoted from the sources.