Low-hysteresis highly reversible topological magnetized elastomer for robotic tactile

Abstract

Elastomers are essential for flexible tactile sensors but suffer from mechanical hysteresis and energy dissipation, limiting robotic sensing stability. We developed a low-hysteresis magnetic elastomer using a topologically magnetized network and 3D-printed rhombic dodecahedron structure, exploiting magnetic repulsion for enhanced performance. The material achieves 0.1 MPa modulus, 0.12 energy loss coefficient (70% strain), and 98% reversibility as a force-to-magnetic conversion medium. The resulting sensor exhibits 1.18% hysteresis (0-115 kPa), minimal energy loss, and superior reversibility compared to conventional elastomers. Integrated into robotic hands, it enables stable static gripping (5+ h) and maintains signal accuracy after 30,000+ dynamic cycles. This work provides a high-performance elastomer design for durable and precise robotic tactile perception.