Dual-Modal Tactile E-Skin: Enabling Bidirectional Human-Robot Interaction Via Integrated Tactile Perception and Feedback

To foster an immersive and natural human-robot interaction (HRI), the implementation of tactile perception and feedback becomes imperative, effectively bridging the conventional sensory gap. In this paper, we propose a dual- modal electronic skin (e-skin) that integrates magnetic tactile sensing and vibration feedback for enhanced HRI. The dual- modal tactile e-skin offers multi-functional tactile sensing and programmable haptic feedback, underpinned by a layered structure comprised of flexible magnetic films, soft silicone elas- tomer, a Hall sensor and actuator array, and a microcontroller unit. The e-skin captures the magnetic field changes caused by subtle deformations through Hall sensors, employing deep learning for accurate tactile perception. Simultaneously, the ac- tuator array generates mechanical vibrations to facilitate haptic feedback, delivering diverse mechanical stimuli. Notably, the dual-modal e-skin is capable of transmitting tactile information bidirectionally, enabling object recognition and fine-weighing operations. This bidirectional tactile interaction framework will enhance the immersion and efficiency of interactions between humans and robots.