Embodied intelligent robots rely on tactile sensors to interact with the physical world safely. While the security of visual perception systems has been studied (e.g., adversarial samples), the integrity of the tactile sensory channel remains unexplored. This work explores a vulnerability in Hall-effect fingertip sensors, showing their susceptibility to intentional Electromagnetic Interference (EMI). We demonstrate that a targeted signal injection can induce strong ``phantom forces'', amplifying perceived force magnitude by over \textbf{9$\times$} and deviating the inferred force direction by \textbf{65$^\circ$}. Such perturbations can paralyze learning-based tactile classification models, seriously affecting robot movement. An attacker could exploit this vulnerability to coerce a robot hand into crushing fragile objects or dropping dangerous payloads.

翻译：具身智能机器人依赖触觉传感器与物理世界安全交互。尽管视觉感知系统的安全性已得到研究（如对抗样本），但触觉感知通道的完整性仍未得到探索。本文研究了霍尔效应指尖传感器的脆弱性，揭示了其对有意电磁干扰的敏感性。我们证明，定向信号注入可诱发强烈的"幽灵之力"，将感知力幅值放大超过\textbf{9倍}，并使推断力方向偏离\textbf{65度}。此类扰动足以瘫痪基于学习的触觉分类模型，严重影响机器人运动。攻击者可利用该漏洞迫使机器手压碎易碎物体或抛落危险载荷。