{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T18:07:21Z","timestamp":1772302041979,"version":"3.50.1"},"reference-count":35,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2021,7,28]],"date-time":"2021-07-28T00:00:00Z","timestamp":1627430400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["PD\/BD\/105933\/2014"],"award-info":[{"award-number":["PD\/BD\/105933\/2014"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["SFRH\/BD\/130384\/2017"],"award-info":[{"award-number":["SFRH\/BD\/130384\/2017"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Tactile sensing is crucial for robots to manipulate objects successfully. However, integrating tactile sensors into robotic hands is still challenging, mainly due to the need to cover small multi-curved surfaces with several components that must be miniaturized. In this paper, we report the design of a novel magnetic-based tactile sensor to be integrated into the robotic hand of the humanoid robot Vizzy. We designed and fabricated a flexible 4 \u00d7 2 matrix of Si chips of magnetoresistive spin valve sensors that, coupled with a single small magnet, can measure contact forces from 0.1 to 5 N on multiple locations over the surface of a robotic fingertip; this design is innovative with respect to previous works in the literature, and it is made possible by careful engineering and miniaturization of the custom-made electronic components that we employ. In addition, we characterize the behavior of the sensor through a COMSOL simulation, which can be used to generate optimized designs for sensors with different geometries.<\/jats:p>","DOI":"10.3390\/s21155098","type":"journal-article","created":{"date-parts":[[2021,7,28]],"date-time":"2021-07-28T21:21:04Z","timestamp":1627507264000},"page":"5098","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["A Soft Tactile Sensor Based on Magnetics and Hybrid Flexible-Rigid Electronics"],"prefix":"10.3390","volume":"21","author":[{"given":"Miguel","family":"Neto","sequence":"first","affiliation":[{"name":"Instituto de Engenharia de Sistemas e Computadores\u2014Microsistemas e Nanotecnologias, 1000-019 Lisbon, Portugal"},{"name":"Instituto Superior T\u00e9cnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal"}]},{"given":"Pedro","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"Instituto de Engenharia de Sistemas e Computadores\u2014Microsistemas e Nanotecnologias, 1000-019 Lisbon, Portugal"},{"name":"Instituto Superior T\u00e9cnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal"},{"name":"Advanced Robotics at Queen Mary, School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UK"}]},{"given":"Ricardo","family":"Nunes","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal"},{"name":"Institute for Systems and Robotics (ISR), 1049-001 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1521-6168","authenticated-orcid":false,"given":"Lorenzo","family":"Jamone","sequence":"additional","affiliation":[{"name":"Advanced Robotics at Queen Mary, School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3991-1269","authenticated-orcid":false,"given":"Alexandre","family":"Bernardino","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal"},{"name":"Institute for Systems and Robotics (ISR), 1049-001 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6913-6529","authenticated-orcid":false,"given":"Susana","family":"Cardoso","sequence":"additional","affiliation":[{"name":"Instituto de Engenharia de Sistemas e Computadores\u2014Microsistemas e Nanotecnologias, 1000-019 Lisbon, Portugal"},{"name":"Instituto Superior T\u00e9cnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2021,7,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1146\/annurev-control-060117-104848","article-title":"Toward Robotic Manipulation","volume":"1","author":"Mason","year":"2018","journal-title":"Annu. 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