Large-area Magnetic Skin for Multi-point and Multi-scale Tactile Sensing with Super-resolution

Large-area Magnetic Skin for Multi-point and Multi-scale Tactile Sensing with Super-resolution | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Large-area Magnetic Skin for Multi-point and Multi-scale Tactile Sensing with Super-resolution Peng Zhao, Hao Hu, Chengqian Zhang, Xinyi Lai, Huangzhe Dai, Chengfeng Pan, and 5 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3722802/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 18 Jul, 2024 Read the published version in npj Flexible Electronics → Version 1 posted 9 You are reading this latest preprint version Abstract The advancements in tactile sensor technology have found wide-ranging applications in robotic fields, resulting in remarkable achievements in object manipulation and overall human-machine interactions. However, the widespread availability of high-resolution tactile skins remains limited, due to the challenges of incorporating large-sized, robust sensing units and increased wiring complexity. One approach to achieve high-resolution and robust tactile skins is to integrate a limited number of sensor units (taxels) into a flexible surface material and leverage signal processing techniques to achieve super-resolution sensing. Here, we present a magnetic skin consisting of multi-direction magnetized flexible films and a contactless Hall sensor array. The key features of the proposed sensor include the specific magnetization arrangement, K-Nearest Neighbors (KNN) clustering algorithm and convolutional neural network (CNN) model for signal processing. Using only an array of 4*4 taxels, our magnetic skin is capable of achieving super-resolution perception over an area of 44100 mm 2 , with an average localization error of 1.2 mm. By employing neural network algorithms to decouple the multi-dimensional signals, the skin can achieve multi-point and multi-scale perception. We also demonstrate the promising potentials of the proposed sensor in intelligent control, by simultaneously controlling two vehicles with trajectory mapping on the magnetic skin. Physical sciences/Materials science/Materials for devices Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Materials science/Techniques and instrumentation Physical sciences/Materials science/Soft materials functional magnetic materials tactile sensor multi-point and multi-scale sensing super-resolution soft wireless sensor Full Text Additional Declarations (Not answered) Supplementary Files S1Allregionsuperresolutionperception.mp4 Supplementary Video 1. All region super-resolution perception. S2Continuouspressingdisplay.mp4 Supplementary Video 2. Continuous pressing display. S3Continouspressingtouchboard.mp4 Supplementary Video 3. Continuous pressing touch-board. S4Multipointssensing.mp4 Supplementary Video 4. Multi-points sensing. S5Onecartrajectorymapping.mp4 Supplementary Video 5. One car trajectory mapping. S6Twocartrajectorymapping.mp4 Supplementary Video 6. Two cars trajectory mapping. SubmitSupportInformation.docx Supplementary Materials Cite Share Download PDF Status: Published Journal Publication published 18 Jul, 2024 Read the published version in npj Flexible Electronics → Version 1 posted Editorial decision: revise 20 Feb, 2024 Review # 2 received at journal 13 Feb, 2024 Review # 1 received at journal 11 Feb, 2024 Reviewer # 2 agreed at journal 30 Jan, 2024 Reviewer # 1 agreed at journal 30 Jan, 2024 Reviewers invited by journal 09 Jan, 2024 Submission checks completed at journal 07 Dec, 2023 First submitted to journal 07 Dec, 2023 Editor assigned by journal 07 Dec, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3722802","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":266143378,"identity":"cf1f7cfb-ec62-4934-b892-7ec7a779f497","order_by":0,"name":"Peng 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However, the widespread availability of high-resolution tactile skins remains limited, due to the challenges of incorporating large-sized, robust sensing units and increased wiring complexity. One approach to achieve high-resolution and robust tactile skins is to integrate a limited number of sensor units (taxels) into a flexible surface material and leverage signal processing techniques to achieve super-resolution sensing. Here, we present a magnetic skin consisting of multi-direction magnetized flexible films and a contactless Hall sensor array. The key features of the proposed sensor include the specific magnetization arrangement, K-Nearest Neighbors (KNN) clustering algorithm and convolutional neural network (CNN) model for signal processing. Using only an array of 4*4 taxels, our magnetic skin is capable of achieving super-resolution perception over an area of 44100 mm\u003csup\u003e2\u003c/sup\u003e, with an average localization error of 1.2 mm. 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