To foster an immersive and natural human-robot interaction, the implementation of tactile perception and feedback becomes imperative, effectively bridging the conventional sensory gap. In this paper, we propose a dual-modal electronic skin (e-skin) that integrates magnetic tactile sensing and vibration feedback for enhanced human-robot interaction. The dual-modal tactile e-skin offers multi-functional tactile sensing and programmable haptic feedback, underpinned by a layered structure comprised of flexible magnetic films, soft silicone, a Hall sensor and actuator array, and a microcontroller unit. The e-skin captures the magnetic field changes caused by subtle deformations through Hall sensors, employing deep learning for accurate tactile perception. Simultaneously, the actuator array generates mechanical vibrations to facilitate haptic feedback, delivering diverse mechanical stimuli. Notably, the dual-modal e-skin is capable of transmitting tactile information bidirectionally, enabling object recognition and fine-weighing operations. This bidirectional tactile interaction framework will enhance the immersion and efficiency of interactions between humans and robots.

翻译：为促进沉浸式且自然的人机交互，触觉感知与反馈的实现变得不可或缺，有效弥合了传统感官差异。本文提出了一种双模态电子皮肤，该电子皮肤集成了磁触觉传感与振动反馈功能，以增强人机交互体验。双模态触觉电子皮肤基于柔性磁膜、软硅胶、霍尔传感器与执行器阵列以及微控制单元构成的分层结构，提供多功能触觉感知与可编程触觉反馈。该电子皮肤通过霍尔传感器捕捉由细微形变引起的磁场变化，并利用深度学习实现精确的触觉感知。同时，执行器阵列产生机械振动以提供触觉反馈，输出多样化的机械刺激。值得注意的是，该双模态电子皮肤能够双向传输触觉信息，支持物体识别与精密称重操作。这种双向触觉交互框架将增强人机交互的沉浸感与效率。