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 9$\times$ and deviating the inferred force direction by 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安全地与物理世界交互。尽管视觉感知系统的安全性已得到广泛研究（例如对抗样本），但触觉感知通道的完整性仍未被充分探索。本工作揭示了霍尔效应指尖传感器的一个漏洞，表明其容易受到有意的电磁干扰（EMI）。我们证明，针对性的信号注入能够诱发强烈的“幻影力”，使感知力幅值放大超过9倍，并导致推断的力方向偏移65°。此类扰动可使基于学习的触觉分类模型瘫痪，严重干扰机器人运动。攻击者可能利用这一漏洞迫使机械手压碎易碎物品或掉落危险载荷。