Force estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieve precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor (VBTS) that integrates a magnetic perception mechanism, and develops a new tactile sensor called MagicGel. The sensor uses strong magnetic particles as markers and captures magnetic field changes in real time through Hall sensors. On this basis, MagicGel achieves the coordinated optimization of multimodal perception capabilities: it not only has fast response characteristics, but also can perceive non-contact status information of home electronic products. Specifically, MagicGel simultaneously analyzes the visual characteristics of magnetic particles and the multimodal data of changes in magnetic field intensity, ultimately improving force estimation capabilities.

翻译：力估计是评估触觉传感器性能的核心指标，也是实现精确力反馈机制的关键技术路径。本研究提出了一种集成磁感知机制的视觉触觉传感器设计方法，并开发了一种名为MagicGel的新型触觉传感器。该传感器采用强磁性颗粒作为标记物，通过霍尔传感器实时捕捉磁场变化。在此基础上，MagicGel实现了多模态感知能力的协同优化：不仅具备快速响应特性，还能感知家用电器的非接触状态信息。具体而言，MagicGel同时分析磁性颗粒的视觉特征与磁场强度变化的多模态数据，最终提升了力估计能力。