MagicGel: A Novel Visual-Based Tactile Sensor Design with MagneticGel

Abstract-- F orce estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieve precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor (VBTS) that integrates a magnetic perception mechanism, and develops a new tactile sensor called MagicGel. The sensor uses strong magnetic particles as markers and captures magnetic field changes in real time through Hall sensors. On this basis, MagicGel achieves the coordinated optimization of multimodal perception capabilities: it not only has fast response characteristics, but also can perceive non-contact status information of home electronic products. I. INTRODUCTION With the rapid advancement of tactile sensor technology, its crucial role in robotics, automation systems, and human-computer interaction has become increasingly evident. Tactile sensors enhance a robot's ability to perceive its environment, equipping the robot with more precise and intelligent operational capabilities. In the field of flexible operation and human-computer interaction, accurate tactile perception is the key to realizing core functions such as bionic grasping and force-controlled interaction. Traditional tactile sensors are mostly based on piezoresistance, capacitance or piezoelectric principles, which can achieve quantitative force perception. However, they have significant limitations in spatial resolution, dynamic response range and force estimation accuracy. J Shan and J Zhao are co-first authors of the article.