Magnet-Based Soft Robotic Skin Using a 3D-Printed Multi-Lattice Structure and CNN-Based Tactile Super-Resolution
It addresses the need for large-area, conformal tactile sensing in robotics, enabling safe human-robot interaction with minimal blind spots.
This paper introduces a magnet-based soft robotic skin using a 3D-printed multi-lattice structure and CNN-based tactile super-resolution, achieving real-time contact localization and normal force estimation with high accuracy and scalability for whole-body robotic skin.
This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by embedded permanent magnets, and the lattice spreads these changes across the sensing domain. This gives each sensor a large, overlapping receptive field and enables a large sensing area with minimal blind spots. Lattice parameters are tunable, enabling joint adjustment of mechanical compliance and transduction characteristics. An implicit modeling workflow and selective laser sintering (SLS) 3D printing support rapid fabrication of conformal, high-complexity structures. A convolutional neural network trained on experimental measurements estimates contact location and normal force in real time. Experiments validate localization accuracy and indicate scalability to larger surfaces, suggesting applicability to whole-body robotic skin and safe human-robot interaction.