Robotic grasping and surface exploration benefit from simultaneous measurement of normal and tangential forces and from surface information obtained through contact. Here, we present a compact magnetociliary tactile sensor (MagCilia) that combines a flexible magnetic-cilia structure with a Hall sensor for 3D force sensing. Quasi-static finite element analysis is used to investigate structural deformation and magnetic responses under multidirectional loading. To reconstruct forces from the coupled magnetic channels, we propose causal history fusion regression (CHFR), which combines current magnetic-field measurements with their recent changes. Five-fold cross-validation grouped by calibration record yields root-mean-square errors of 0.40, 0.57, and 0.69 N for Fx, Fy, and Fz, respectively, with corresponding coefficients of determination of 0.93, 0.90, and 0.92. Robotic experiments demonstrate tangential-force-guided gripper adjustment and multi-axis load monitoring under external perturbations. Frequency-domain features of the reconstructed forces distinguish six surface categories with 99.39% accuracy in three-fold cross-validation grouped by acquisition session. An online robotic demonstration additionally identifies all six tested surfaces. These results demonstrate 3D force reconstruction, grasping feedback, and surface recognition using a single compact tactile unit.

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