Work

Miniaturized 3D Magnetic Force Sensor via Laser‐Assisted Folding and Magnetization for Enhanced Robotic Dexterity

Year: 2026

Type: article

Abstract: ABSTRACT Magnetic tactile sensor with centripetally magnetization designs is capable of efficient 3D force decoupling sensing, which is essential for advancing robotic dexterity. Nevertheless, the miniaturization of sensors remains a challenge, primarily due to the complexities associated with precisely fabricating such planar magnetic structures. Here, we present a laser‐assisted folding and magnetization (LAFM) method to create centripetally magnetized films. Laser‐etched grooves enable controlled folding, achieving accurate magnetization alignment in films as small as 5 × 5 mm 2 , which are verified by root mean square errors (RMSEs) of less than 5 µT between the experimental and theoretical magnetic field values. This breakthrough enabled the compact 3D force sensor featuring high force resolution (tangential 3 mN, normal 9 mN), rapid response (34 ms), and long‐term stability (>2500 cycles, <1% deviation). When installed on a mobile manipulator, the sensor enables adaptive grasping of delicate objects during obstacle traversal. Its functionality is further enhanced by deploying an array of 16 units on a dexterous hand, which supports non‐destructive stiffness recognition across six representative materials and stable manipulation of variable‐mass or irregular objects. This work establishes a robust pathway for miniaturized tactile sensors and embodied intelligence, especially in robotic perception.

Source: Advanced Science

DOI: 10.1002/advs.202524321