Title

Magnet-Based Soft Robotic Skin with Multi-Lattice Structure for Tactile Super-Resolution via Sim-to- Real Transfer

DGIST Authors

Yunseong Bang ; Kyungseo Park

Advisor

박경서

Issued Date

2026

Awarded Date

2026-08-01

Type

Thesis

Description

Magnet-based robotic skin, tactile super-resolution, multi-lattice structure, Simulation-to-Real transfer

Table Of Contents

Ⅰ. Introduction
1.1 Whole-body robotic skin 1
1.2 Module-based approach 2
1.3 Tactile super-resolution 3
1.4 Magnetic field sensing 5
1.5 Simulation-to-real transfer 7
1.6 Research objectives 9
Ⅱ. Hardware Design
2.1 System overview 10
2.2 Multi-lattice structure 11
2.3 Magnetic sensor array 14
2.4 Fabrication process 15
Ⅲ. CNN-Regression Model
3.1 Data collection 17
3.2 CNN-based regression model 18
3.3 Experimental results 20
3.4 Real-time inference demonstration 21
Ⅳ. CNN-Based Image Model and Sim-to-Real Transfer
4.1 Hardware revision 23
4.2 Experimental setup 26
4.3 Simulation-based dataset generation 27
4.3.1 Surface deformation and magnet transformation 28
4.3.2 line and multi-contact modeling 30
4.3.3 Dataset generation for robust tactile inference 31
4.4 CNN-based image model 33
4.5 Experimental results 34
4.5.1 Single-point contact localization 34
4.5.2 Two-point contact resolution 35
4.6 Real-time 3D reconstruction demonstration 36
4.6.1 Multi-point contact reconstruction 36
4.6.2 Line contact reconstruction 37
4.6.3 Complex contact reconstruction 38
4.7 Discussion 39
Ⅴ. Conclusion 40
References 41
요약문 45

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/60784
http://dgist.dcollection.net/common/orgView/200001008296

DOI

10.22677/THESIS.200001008296

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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