A Lightweight 3-axis Permanent Magnetic Sponge-based Self-Adapting Tactile Sensor
Yushi Wang, Devesh Abhyankar, Yuhiro Iwamoto, Zhengxue Cheng, Ruotong Zhao, Shigeki Sugano, Mitsuhiro Kamezaki
Abstract
Tactile sensors are indispensable in robotic systems because they deliver vital contact information during environmental interactions. In our work, we leverage the variable compliance of a porous material—where different interaction forces induce varying degrees of compliance—to achieve self-adapting tactile sensing. This distinctive non-linear characteristic allows its sensitivity to be automatically tuned over a range from 0.008 mT/N to 0.045 mT/N. After coating with a magnetic polymer, the porous material functions as a 3-axis magnetic sensing medium. Its length and width are set at 30 mm and 35 mm respectively to accommodate the printed circuit board. To preserve the overall measuring range, it is designed with a thickness of 15 mm. This thickness enables monitoring of the volumetric changes due to the enhanced compliance, which is suitable for three-dimensional shape recognition. In this work, we present the design, fabrication, experimental characterization, and applications of an lightweight 3-axis magnetic sponge sensor with overall dimensions of 30 mm (width) × 35 mm (length) × 17 mm (height) and a detection range of 60 N. Notably, the sensing material weighs only 2 g, thanks to its porous structure.
BibTeX
@inproceedings{iros2025_alightweight3axi,
title = {A Lightweight 3-axis Permanent Magnetic Sponge-based Self-Adapting Tactile Sensor},
author = {Yushi Wang and Devesh Abhyankar and Yuhiro Iwamoto and Zhengxue Cheng and Ruotong Zhao and Shigeki Sugano and Mitsuhiro Kamezaki},
booktitle = {IROS 2025},
year = {2025}
}