Abstract：With the evolution of new sensing materials, magnetoelectric conversion devices, and flexible electronic technologies, the demand for tactile perception in complex working conditions, such as energy equipment and industrial robots, has rapidly increased. It is required to achieve millisecond-level force response and stable decoupling measurement to maintain contact stability and operational safety. In recent years, the Internet of Things and digital twin systems have further highlighted the value of highly reliable haptic sensing in system modeling, control, and state perception. Significant breakthroughs have been made in magnetic haptic sensors across materials, magnetization methods, and magnetic sensor devices. However, most haptic sensors suffer from insufficient sensitivity to tangential forces and slow response times. This paper proposes a concentric-folded, magnetized, arc-shaped magnetic haptic sensor and mounts it on the fingertip of a mechanical hand to achieve real-time detection of pull and rotational slip. Firstly, a flexible magnetic film was prepared using neodymium-iron-boron particles and silica gel. The centripetal folding magnetization method was adopted, thereby increasing the magnetic flux density of the magnetic film and improving its magnetic field distribution. The “force-displacement, magnetic field-voltage” models were derived, and the linear superposition relationships between the normal and tangential forces and the output voltage were given. Fabricate arc-shaped tactile sensors composed of magnetic films, silicone elastomers, and tunnel magnetoresistive elements. Static and dynamic testing systems were built to evaluate the sensitivity, measurement range, and response time of normal and tangential forces. Then, the developed arc-shaped tactile sensor was mounted on the fingertip of the mechanical hand, and pull-slip and rotation-slip detection of the grasped object were performed. The test results for magnetic flux density in magnetic films show that the average magnetic flux densities of films magnetized along the thickness direction by traditional folding and by centripetal folding are 10.6 mT and 43 mT, respectively, whereas for films magnetized along the thickness direction, it is 23 mT. The centripetal folding magnetization method can generate a greater magnetic field intensity. Tests on the output characteristics of the arc-shaped magnetic tactile sensor show that the sensor's normal force measurement sensitivity within the range of 0 to 25 N is 19.2 mV/N, with a response time of 38 ms. However, within the range of 0 to 2.4 N, the tangential force measurement sensitivity can reach 93.3 mV/N, with a response time of 34 ms, which is comparable to human senses. Experiments on object pulling and sliding, as well as rotational sliding, were conducted on a manipulator equipped with an arc-shaped magnetic tactile sensor. The results show that the arc-shaped magnetic tactile sensor can detect changes in pulling, sliding, and rotational sliding during object grasping. The sensor promptly feeds back changes in perceived information to the manipulator's control center. Adjusting grasping force in a timely manner has demonstrated great potential for precise operation.
李卓林, 翁玲, 王亚茹, 郭晓康, 杨惠文. 用于滑移检测的向心折叠磁化弧形触觉传感器设计[J]. 电工技术学报, 2026, 41(20): 7121-7132.
Li Zhuolin, Weng Ling, Wang Yaru, Guo Xiaokang, Yang Huiwen. Design of an Arc-Shaped Tactile Sensor with Centripetal Fold Magnetization for Slip Detection. Transactions of China Electrotechnical Society, 2026, 41(20): 7121-7132.
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2026, Vol. 41 
