{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,25]],"date-time":"2026-09-25T21:04:57Z","timestamp":1790370297559,"version":"4.1.0"},"reference-count":52,"publisher":"Wiley","issue":"29","license":[{"start":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T00:00:00Z","timestamp":1774569600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T00:00:00Z","timestamp":1774569600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["524B2062"],"award-info":[{"award-number":["524B2062"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U25A20420"],"award-info":[{"award-number":["U25A20420"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52575460"],"award-info":[{"award-number":["52575460"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"published-print":{"date-parts":[[2026,5]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    Magnetic tactile sensor with centripetally magnetization designs is capable of efficient 3D force decoupling sensing, which is essential for advancing robotic dexterity. Nevertheless, the miniaturization of sensors remains a challenge, primarily due to the complexities associated with precisely fabricating such planar magnetic structures. Here, we present a laser\u2010assisted folding and magnetization (LAFM) method to create centripetally magnetized films. Laser\u2010etched grooves enable controlled folding, achieving accurate magnetization alignment in films as small as 5 \u00d7 5 mm\n                    <jats:sup>2<\/jats:sup>\n                    , which are verified by root mean square errors (RMSEs) of less than 5 \u00b5T between the experimental and theoretical magnetic field values. This breakthrough enabled the compact 3D force sensor featuring high force resolution (tangential 3 mN, normal 9 mN), rapid response (34 ms), and long\u2010term stability (&gt;2500 cycles, &lt;1% deviation). When installed on a mobile manipulator, the sensor enables adaptive grasping of delicate objects during obstacle traversal. Its functionality is further enhanced by deploying an array of 16 units on a dexterous hand, which supports non\u2010destructive stiffness recognition across six representative materials and stable manipulation of variable\u2010mass or irregular objects. This work establishes a robust pathway for miniaturized tactile sensors and embodied intelligence, especially in robotic perception.\n                  <\/jats:p>","DOI":"10.1002\/advs.202524321","type":"journal-article","created":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T11:09:39Z","timestamp":1774609779000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Miniaturized 3D Magnetic Force Sensor via Laser\u2010Assisted Folding and Magnetization for Enhanced Robotic Dexterity"],"prefix":"10.1002","volume":"13","author":[{"given":"Yujie","family":"Huang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering Zhejiang University Hangzhou China"},{"name":"Zhejiang Key Laboratory of Additive Manufacturing Technology and Equipment, School of Mechanical Engineering Zhejiang University  Hangzhou 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Additive Manufacturing Technology and Equipment, School of Mechanical Engineering Zhejiang University  Hangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Annan","family":"Ding","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering Zhejiang University Hangzhou China"},{"name":"Zhejiang Key Laboratory of Additive Manufacturing Technology and Equipment, School of Mechanical Engineering Zhejiang University  Hangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuebin","family":"Ni","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering Zhejiang University Hangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yizhi","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic 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