A Novel Orthogonal Halbach Bilayer for Super-Resolution Tactile Perception

High spatial resolution in tactile perception is crucial for precise robotic manipulation, yet existing methods primarily rely on data-driven approaches that require large datasets and significant computational resources. These limitations hinder their real-time application in resource-constrained environments. This article presents a novel analytical approach to tactile super-resolution using magnetic tactile sensors, bypassing the need for training data. By employing an orthogonal Halbach bilayer magnetization method, a three-axis sinusoidal magnetic field is generated, significantly improving the signal-to-noise ratio and tactile perception accuracy. A fully analytical model is developed to establish a precise correlation between contact positions and variations in the magnetic field, leading to a five-fold improvement in spatial resolution. Unlike traditional methods, our approach offers high accuracy without the computational burden, making it ideal for complex environments, where high-quality training data are difficult to obtain. Extensive simulations and real-world experiments validate the effectiveness of the proposed method, demonstrating its potential for applications in different fields, such as robotics and healthcare.