Binbin Zhang, Yifeng Zhang, Xiaomeng Chen, Dongyao Chen · 2026 · arXiv
DOI: 10.48550/arXiv.2610.26174 · open-access PDF
触覚感知は精密なロボット操作に不可欠であり、巧妙で閉鎖的な力コントロールのための重要な基盤を提供します。さまざまな触覚感知技術の中で、磁気感知センサーは、細粒の三次元の力感知能力と視覚遮断に対する強力さのおかげで突出します。この研究では、磁気感知センサーにおけるPhantomTacと呼ばれる物理の穴を発見します。攻撃者は磁場を変え、磁気感知センサーによって解釈される力を汚すことができます。
Machine translation (Meta M2M100); the English original follows.
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 simp
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