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However, due to the lack of guidance by appropriate theoretical models, the development of previous magnetic tactile sensors relies either on a trial\u2010and\u2010error manner or tedious point\u2010by\u2010point experimental calibrations, which are costly and time\u2010inefficient. Here, a theoretical model integrating magnetics, artificial neural networks, and nonlinear solid mechanics is proposed for the first time to guide the design of 3D magnetic tactile sensors. Then, a button\u2010shaped magnetic tactile sensor prototype that can detect subtle triaxial force changes is fabricated, which relates the nonlinear magnetic flux density to the external force, without burdensome calibration procedures. The sensor can achieve an axial measurement error of less than 1% and an in\u2010plane error of less than 3.7% with excellent durability. This study provides a comprehensive understanding of magnetic tactile sensors and sheds light on their applications in soft robotics, intelligent manipulation, and human\u2013robot interaction (HRI).<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200291","type":"journal-article","created":{"date-parts":[[2023,1,20]],"date-time":"2023-01-20T22:25:50Z","timestamp":1674253550000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Design of 3D Magnetic Tactile Sensors with High Sensing Accuracy Guided by the Theoretical Model"],"prefix":"10.1002","volume":"5","author":[{"given":"Xiaocheng","family":"Hu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Eye Center of the Second Affiliated Hospital, Center for X-Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heng","family":"Zhu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Eye Center of the Second Affiliated Hospital, Center for X-Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruiwen","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sideng","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zheng","family":"Jia","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Eye Center of the Second Affiliated Hospital, Center for X-Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Honghui","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The City College of New York  New York NY 10031 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1217-4644","authenticated-orcid":false,"given":"Shaoxing","family":"Qu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Eye Center of the Second Affiliated Hospital, Center for X-Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou 310027 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2023,1,20]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.3390\/s17112653"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.09.008"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.3390\/s16091356"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2983707"},{"key":"e_1_2_11_6_1","first-page":"772","author":"Clark J. 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