Soft Magnetic Skin With Motion and Contact Sensing for Anthropomorphic Robotic Finger

Drawing inspiration from human fine tactile and proprioceptive kinaesthetic sensing pathways, we propose a soft magnetic skin (m-skin) with multimodal sensing functions integrated into the anthropomorphic robotic finger. This paper mainly explores the magnetic tactile sensor's structural design, performance analysis, and bimodal sensing. The realization recognizes the contact information and the spatial joint angle of the fingers only by detecting the change in the magnetic field signal. Through our research, we pave the way for robotic fingers to realize an all-round sensing ability similar to human fingers, and the dexterous hand is designed with flexible five-fingers to prove the performances of soft magnetic skin, thus opening up new ways for human-robot interaction.