Preprint Open access
MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping Feedback
Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact. Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sens …