Fig. 2: Principle of super-resolution pressure sensing and performance evaluation of magnetic skin.
From: Large-area magnetic skin for multi-point and multi-scale tactile sensing with super-resolution
The principle of pressure perception in magnetic skin can be divided into four main parts: a The 48-dimensional pressure magnetic field signals corresponding to the sixteen sensors are obtained. b The magnitude of the magnetic field in the z-direction at the pressure location is used to determine the approximate position of the pressure, thereby identifying the rough pressure region. c The original dataset is expanded using the Kriging interpolation method to improve the perception accuracy. d The K-nearest neighbors (KNN) algorithm is used to determine the reconstructed pressure point based on the magnetic field signals, and the result is outputted. e–g Super-Resolution experimental error verification of the pressing position. A spherical head with 4 mm diameter is used to press the magnetic sample in a pattern of ZJU with three different conditions, and we show the localization error of each condition individually. h The relationships between loading force (F) and z-direction magnetic flux density (\({B}_{z}\)) of nearby left-up Hall sensor (Fig. 2h-inset). i The relationships between loading force (F) and z-direction magnetic flux density (Bz) after 500 cycles. j Magnetic skin has achieved a high-precision compression position sensing ability with large sensing area per sensing unit compared with the previous design33,34,42,44,45,46,47,48,49,50.
