MagPillar: A Soft Magnetopillar Array Tactile Sensor for Robotic Surface Perception
Overview
This paper introduces MagPillar, a tactile sensor inspired by spider hairs that combines a magnetic pillar array with three-axis Hall sensing. The authors provide a full-array mechanical and magnetic-field model to interpret contact responses, demonstrating an offline accuracy of 99.34% for distinguishing six material surfaces under within-session temporally blocked cross-validation. Continuous scans over periodic protrusions show consistent amplitude and peak-spacing variations reflecting surface geometry changes.
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- arXiv Robotics — research abstractsSignalMagPillar: A Soft Magnetopillar Array Tactile Sensor for Robotic Surface Perception
This paper introduces MagPillar, a tactile sensor inspired by spider hairs that combines a magnetic pillar array with three-axis Hall sensing. The authors provide a full-array mechanical and magnetic-field model to interpret contact responses, demonstrating an offline accuracy of 99.34% for distinguishing six material surfaces under within-session temporally blocked cross-validation. Continuous scans over periodic protrusions show consistent amplitude and peak-spacing variations reflecting surface geometry changes.
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