Fig. 4: Characterization of the force direction recognition performance of the MAWPS with axial magnetized cilia.

a Schematic diagram showing the bending of magnetic cilia in MAWPS. Here, different numbers represent various positions of the MSU. b Schematic diagram of different assembly positions of coiled magnetic amorphous wires in the MSU. a and b represent the distances of the amorphous wires from the centerline of the MSU in the x and y directions, respectively. c Simulation of magnetic field variations in different regions during bending of the axial magnetized cilia at the same a-value. d Simulation of magnetic field variations in different regions during bending of the axial magnetized cilia at the same b-value. e Relative impedance changes of the MAWPS architecture with different a-value under the same shear force and b-value. f Relative impedance variation of the different shear force direction at optimum a- and b-value. Here, we kept the magnitude of the force constant while only changing its direction.