{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T11:15:55Z","timestamp":1780485355613,"version":"3.54.1"},"reference-count":43,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"10","funder":[{"DOI":"10.13039\/501100001809","name":"National Science Foundation of China","doi-asserted-by":"crossref","award":["52375125, 52475129"],"award-info":[{"award-number":["52375125, 52475129"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100021171","name":"Guangdong Basic and Applied Basic Research Foundation","doi-asserted-by":"crossref","award":["2023B1515130007"],"award-info":[{"award-number":["2023B1515130007"]}],"id":[{"id":"10.13039\/501100021171","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Hong Kong RGC General Research Fund","award":["16203923"],"award-info":[{"award-number":["16203923"]}]}],"content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Adv."],"published-print":{"date-parts":[[2026,3,6]]},"abstract":"<jats:p>\n                    Achieving human-like forceful manipulation remains a major challenge in robotics because of the lack of critical environmental interaction cues such as collisions, balance, and resistance. We present a torque-angle-pressure (TAP) tactile sensor leveraging magnetic flux density gradients to achieve bidirectional, ultrasensitive (~0.1\u00b0, ~0.4 newton-millimeter), and high-linearity (\n                    <jats:italic toggle=\"yes\">R<\/jats:italic>\n                    <jats:sup>2<\/jats:sup>\n                    \u00a0=\u00a00.99) sensing over a wide range (\u00b1241.6 newton-millimeter) through a single readout channel. The accurate torque sensing ability provides both force and distance information, bringing the environment into the interaction loop. A TAP-equipped robot can perform vision-free stable object placement and complete a balance beam stacking challenge in just 2.4 seconds with a success rate of 81.5%\u2014both measured metrics surpassing human performance. It also supports adaptive daikon slicing with real-time posture and motion adjustments\u2014capabilities rarely achievable in existing robotic systems. This work advances tactile sensing, enables forceful manipulation in unstructured environments, and represents a key step toward effective human-robot collaboration.\n                  <\/jats:p>","DOI":"10.1126\/sciadv.aec3263","type":"journal-article","created":{"date-parts":[[2026,3,4]],"date-time":"2026-03-04T18:58:52Z","timestamp":1772650732000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":1,"title":["Touching with torque enables human-level robotic dexterity"],"prefix":"10.1126","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-9546-2384","authenticated-orcid":true,"given":"Ling","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."},{"name":"HKUST Shenzhen Research Institute, Shenzhen 518057, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8646-277X","authenticated-orcid":true,"given":"Yu","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7743-3969","authenticated-orcid":true,"given":"Laihao","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuxuan","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingkai","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yixue","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0130-3172","authenticated-orcid":true,"given":"Xuefeng","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5799-7524","authenticated-orcid":true,"given":"Yajing","family":"Shen","sequence":"additional","affiliation":[{"name":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China."},{"name":"Center for Smarting Manufacturing, The Hong Kong University of Science and Technology, Hong Kong SAR, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aat8414"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202109109"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc8134"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau6914"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202306832"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adj8567"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.adt2481"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-024-08155-9"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd9461"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3285471"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2024.3445504"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3462943"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.ado8051"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201800284"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.adk5556"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201305064"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202310145"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/0166-2236(83)90011-5"},{"key":"e_1_3_2_20_2","doi-asserted-by":"crossref","unstructured":"R. Kolamuri Z. Si Y. Zhang A. Agarwal W. Yuan \u201cImproving grasp stability with rotation measurement from tactile sensing \u201d in 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2021) pp. 6809\u20136816.","DOI":"10.1109\/IROS51168.2021.9636488"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202200903"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abd7795"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc8801"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2944130"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2020.3030631"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3233784"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.2982107"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3280597"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.nanoen.2022.107073"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201802989"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-40583-5"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2023.3344822"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1038\/nmat3380"},{"key":"e_1_3_2_34_2","doi-asserted-by":"crossref","unstructured":"P. Griffa C. Sferrazza R. D\u2019Andrea \u201cLeveraging distributed contact force measurements for slip detection: A physics-based approach enabled by a data-driven tactile sensor \u201d in 2022 International Conference on Robotics and Automation (ICRA) (IEEE 2022) pp. 4826\u20134832.","DOI":"10.1109\/ICRA46639.2022.9812186"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972876"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2930477"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.5038\/SWID5066"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146507"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2013.07.051"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.3390\/app9020348"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919868017"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adf8831"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2023.3309784"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2977257"}],"container-title":["Science Advances"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/sciadv.aec3263","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T18:00:32Z","timestamp":1773943232000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/sciadv.aec3263"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,6]]},"references-count":43,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2026,3,6]]}},"alternative-id":["10.1126\/sciadv.aec3263"],"URL":"https:\/\/doi.org\/10.1126\/sciadv.aec3263","relation":{},"ISSN":["2375-2548"],"issn-type":[{"value":"2375-2548","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3,6]]},"assertion":[{"value":"2025-09-19","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-01-29","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-04","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eaec3263"}}