# 一种具备实时信号解耦能力、用于同步压力与粘性检测的鲁棒单感知元件触觉传感器

> 原文链接：https://robotics.hellobike.com/papers/2026-09-29-2609-36558
> 频道：papers | 更新日期：2026-09-29 | 标签：arxiv, cs.RO
> 核心摘要：针对多模态触觉信号解耦与稳定性问题，提出霍尔传感器结合软磁复合材料的表面柔软触觉传感器。

# 一种具备实时信号解耦能力、用于同步压力与粘性检测的鲁棒单感知元件触觉传感器

::: v-pre
> 原文链接：[A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability](https://arxiv.org/abs/2609.36558)（arXiv 2609.36558 · 发布日期：2026-09-29）

**A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability**

针对多模态触觉信号解耦与稳定性问题，提出霍尔传感器结合软磁复合材料的表面柔软触觉传感器。

## 核心要点

- 动机是为仿人机器人皮肤引入粘性感知，同时应对多模态信号解耦和稳定性挑战。
- 方法是在鲁棒弹性框架中集成霍尔传感器与软磁复合材料，通过表面压陷和脱离粘性表面时鼓起改变距离。
- 该机制产生全流程可追踪且基线分离的信号，可实时区分压力与拉脱力，并减少应力串扰。
- 摘要称该传感器具有可靠性和信号基线稳定性，并有望用于粘附性评估、橡胶老化监测和轻物体操作等。

## 英文摘要 (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.

作者：Ying Yang, Mingwei Gu, Jia-Sen Xie, Xingyu Ma, Yan-Na Lu, Lin Zheng, Jinhui Gu, Junshuai Chen, Yunjie Lu, Denys Makarov
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## 原始参考来源 (Sources)

- [arXiv 2609.36558：A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability](https://arxiv.org/abs/2609.36558)