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PhantomTac: Hijacking Robotic Tactile Systems with Deploy-and-forget Tags

Binbin Zhang, Yifeng Zhang, Xiaomeng Chen, Dongyao Chen · 2026 · arXiv (Cornell University)

DOI: 10.48550/arxiv.2610.26174 · cited by 0 works (OpenAlex) · open-access PDF

Indonesian

Pengendalian kecepatan sentuh mekanisme pengendalian kecepatan sentuh secara langsung adalah 95% penting untuk manipulasi robotik yang akurat, memberikan dasar penting untuk pengendalian kekuatan sentuh yang kecepatan. Di antara berbagai teknik sentuh sentuh, sensor sentuh magnetik menonjol berkat kemampuan sentuh kekuatan antitrust tiga dimensi dan kekuatan sensor yang kuat terhadap obsesi visual. Dalam penelitian ini, kita menemukan lubang fisik yang disebut PhantomTac dalam sensor sentuh magnetik. Oleh karena itu, tag serangan dapat dengan mudah disembunyikan berdasarkan medan magnetik, sehingga spoofing kekuatan sentuh yang diinterpretasikan oleh sensor sentuh magnetik. Penyerang dapat secara diam-diam mengimplementasikan serangan semacam itu dengan hanya melampirkan tipis (ketebalan sekitar 0,5 mm), tag magnet bebas baterai yang efektif ke permukaan objek. Oleh karena itu, tag serangan dapat dengan mudah

Machine translation (Meta M2M100); the English original follows.

Abstract

Tactile perception is crucial for precise robotic manipulation, providing an important foundation for dexterous, closed-loop force control. Among various tactile sensing techniques, magnetic tactile sensors stand out thanks to their fine-grained, three-dimensional force perception capability and strong robustness against visual occlusion. In this study, we discover a physical loophole called PhantomTac in magnetic tactile sensors. The attacker can alter the magnetic field, thus spoofing the force interpreted by magnetic tactile sensors. The attacker can stealthily deploy such an attack by simply attaching a thin (the thickness is around 0.5 mm), battery-free magnetic tag to the surface of an object. Hence, the attack tag can be easily concealed by a barcode sticker. Such an attack scheme is "deploy-and-forget" -- the attacker can deploy the tag and leave. When a robotic hand is picking up an object, it may severely damage the object. Specifically, spoofing the normal force can crush the object, whereas spoofing the shear force can lead to a loose grip, thus dropping the object. Compared with directly sabotaging the robotic hand, PhantomTac is much more concealed as the attacker does not need access to the device. We performed extensive reverse-engineering efforts to characterize the sensing mechanism of commercial-off-the-shelf tactile sensors and proposed a practical tag design. End-to-end evaluations conducted on real robots and robotic arms demonstrate that our attack can bypass existing anti-interference mechanisms and effectively hijack their closed-loop control processes, achieving an attack success rate exceeding 95% when the grasping-position offset is bounded within 8 mm. Finally, based on the limitations of existing anti-magnetic interference mechanisms, we propose a multimodal-consistency defense mechanism to mitigate such physical-layer security threats.

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Topics: Spoofing attack, Robustness (evolution), Computer science, Robot, Tactile perception, Tactile sensor

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