Electronic skins integrating both normal and shear force per taxel have a wide range of applications across diverse fields, including robotics, haptics and health monitoring. Current multi-axis tactile sensors often present complexities in structure and fabrication or require an extensive calibration process, limiting their widespread applications. Here we report an electronic soft magnetic skin capable of self-decoupling three-axis forces at each taxel. We use a simple sensor structure with customizable sensitivity and measurement range, reducing the calibration complexity from known quadratic (N²) or cubic (N³) scales down to a linear (3N) scale. The three-axis self-decoupling property of the sensor is achieved by overlaying two sinusoidally magnetized flexible magnetic films with orthogonal magnetization patterns. Leveraging the self-decoupling feature and its simple structure, we demonstrate that our sensor can facilitate a diverse range of applications, such as measuring the three-dimensional force distribution in artificial knee joints, teaching robots by touch demonstration and monitoring the interaction forces between knee braces and human skin during various activities.

电子皮肤集成了法向力和剪切力，在机器人技术、触觉和健康监测等不同领域具有广泛的应用。当前的多轴接触式传感器在结构和制造方面通常很复杂，或者需要大量的校准过程，从而限制了它们的广泛应用。在这里，我们报告了一种电子软磁皮肤，能够在每个紫杉醇处自解耦三轴力。我们使用简单的传感器结构，具有可定制的灵敏度和测量范围，将校准复杂性从已知的二次 （N²） 或三次 （N³） 刻度降低到线性 （3N） 刻度。传感器的三轴自耦特性是通过叠加两个具有正交磁化模式的正弦磁化柔性磁膜来实现的。利用自耦功能及其简单的结构，我们证明了我们的传感器可以促进多种应用，例如测量人工膝关节中的三维力分布、通过触摸演示教学机器人以及在各种活动中监测膝关节支架与人体皮肤之间的相互作用力。