Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform grasping without force feedback, risking damage to fragile objects. To address these limitations, we propose a novel force-aware grasping framework incorporating six low-cost, sensitive skin-like tactile sensors. We introduce a magnetic-based tactile sensing module that provides high-precision three-dimensional force measurements. We eliminate geomagnetic interference through a reference Hall sensor and simplify the calibration process compared to previous work. The proposed framework enables precise force-aware grasping control, allowing safe manipulation of fragile objects and real-time weight measurement of grasped items. The system is validated through comprehensive real-world experiments, including balloon grasping, dynamic load variation tests, and ablation studies, demonstrating its effectiveness in various aerial manipulation scenarios. Our approach achieves fully onboard operation without external motion capture systems, significantly enhancing the practicality of force-sensitive aerial manipulation. The supplementary video is available at: https://www.youtube.com/watch?v=mbcZkrJEf1I.

翻译：空中操控需要具备力感知能力，以实现安全有效的抓取与物理交互。先前的研究通常依赖于笨重、昂贵的力传感器，这些传感器不适用于典型的四旋翼平台；或者在没有力反馈的情况下执行抓取，存在损坏易碎物体的风险。为解决这些局限性，我们提出了一种新颖的力感知抓取框架，该框架集成了六个低成本、高灵敏度的类皮肤触觉传感器。我们引入了一种基于磁力的触觉传感模块，可提供高精度的三维力测量。通过一个参考霍尔传感器，我们消除了地磁干扰，并且与先前工作相比简化了校准过程。所提出的框架实现了精确的力感知抓取控制，允许安全操控易碎物体并对抓取物品进行实时重量测量。该系统通过全面的真实世界实验得到验证，包括气球抓取、动态负载变化测试和消融研究，证明了其在各种空中操控场景中的有效性。我们的方法实现了完全机载运行，无需外部运动捕捉系统，显著增强了力敏感空中操控的实用性。补充视频可在以下网址获取：https://www.youtube.com/watch?v=mbcZkrJEf1I。