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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Cite this article
APA 7
Yang, Y., Gu, M., Xie, J. S., Ma, X., Lu, Y. N., Zheng, L., Gu, J., Chen, J., Lu, Y., Makarov, D., & Ge, J. (2026). A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability. https://omanscience.com/en/articles/a-robust-single-sensing-element-tactile-sensor-for-concurrent-pressure-and-tackiness-detection-with-real-time-signal-decoupling-capability
MLA 9
Yang, Ying, et al. "A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability." https://omanscience.com/en/articles/a-robust-single-sensing-element-tactile-sensor-for-concurrent-pressure-and-tackiness-detection-with-real-time-signal-decoupling-capability.
Chicago (author–date)
Yang, Ying, Mingwei Gu, Jia-Sen Xie, Xingyu Ma, Yan-Na Lu, Lin Zheng, Jinhui Gu, Junshuai Chen, Yunjie Lu, Denys Makarov, and Jin Ge. 2026. "A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability." https://omanscience.com/en/articles/a-robust-single-sensing-element-tactile-sensor-for-concurrent-pressure-and-tackiness-detection-with-real-time-signal-decoupling-capability.
Harvard
Yang, Y., Gu, M., Xie, J. S., Ma, X., Lu, Y. N., Zheng, L., Gu, J., Chen, J., Lu, Y., Makarov, D. and Ge, J. (2026) 'A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability', Available at: https://omanscience.com/en/articles/a-robust-single-sensing-element-tactile-sensor-for-concurrent-pressure-and-tackiness-detection-with-real-time-signal-decoupling-capability.
Vancouver
Yang Y, Gu M, Xie JS, Ma X, Lu YN, Zheng L, et al. A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability. https://omanscience.com/en/articles/a-robust-single-sensing-element-tactile-sensor-for-concurrent-pressure-and-tackiness-detection-with-real-time-signal-decoupling-capability
IEEE
Y. Yang, M. Gu, J. S. Xie, X. Ma, Y. N. Lu, L. Zheng, J. Gu, J. Chen, Y. Lu, D. Makarov, and J. Ge, "A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability," https://omanscience.com/en/articles/a-robust-single-sensing-element-tactile-sensor-for-concurrent-pressure-and-tackiness-detection-with-real-time-signal-decoupling-capability.