Magnetically sensitive electronic skin and methods of use thereof

Abstract

The invention provides a magnetic sensitive type electronic skin and a using method thereof, and the magnetic sensitive type electronic skin comprises a magnetic elastic body, a magnetic sensor and a signal processing module, the magnetic projectile body comprises a surface structure and magnetic cilia distributed on the surface structure, and the magnetic cilia are used for generating deformation based on external contact force so as to generate a magnetic change signal; the magnetic sensor is used for sensing the magnetic change signal and sending the magnetic change signal to the signal processing module; the signal processing module is used for determining the position and magnitude of the external contact force based on the magnetic change signal. The invention can solve the problem that the existing magnetic sensitive electronic skin cannot realize high-resolution and large-area sensing of the contact position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of non-destructive testing (NDT), and more particularly, to a magnetic sensitive electronic skin and a method of using the same. BACKGROUND

[0002] Electronic skin is an artificial intelligent sensing system that mimics the sensing functions of biological skin (such as pressure, touch, temperature), and has broad prospects in the fields of robotics, wearable devices, medical rehabilitation, human-computer interaction, etc.

[0003] The magnetic sensitive electronic skin is a commonly used type of electronic skin at present, which uses magnetic field as a sensing medium to realize the simulation of the sensing functions of biological skin. Among them, the Hall sensor becomes a commonly used sensor for the magnetic sensitive electronic skin due to its non-contact measurement, relatively mature and reliable, easy to integrate with circuit, etc.

[0004] The basic principle of the magnetic sensitive electronic skin is to embed a permanent magnet (such as NdFeB) into the inside of a flexible base layer (as a deformable layer), and arrange a magnetic sensor (such as a Hall sensor) at a specific position above (or below) the flexible base layer; when the surface of the entire magnetic sensitive electronic skin is pressed or touched, the flexible base layer deforms, causing the relative position and distance between the embedded permanent magnet in the inside of the flexible base layer and the magnetic sensor to change, and then causing the magnetic field strength or direction (magnetic field gradient) at the position of the magnetic sensor to change. Subsequently, by measuring and interpreting these magnetic field change parameters, the position of the contact and the contact force can be inferred.

[0005] However, the existing magnetic sensitive electronic skin at least has the following technical problems: Problem one: the existing magnetic sensitive electronic skin has limited spatial positioning capability, especially in large-size devices, due to insufficient magnetic field gradient, it can only roughly divide the contact area into four blocks (for example: upper left, upper right, lower left, lower right), and cannot provide more detailed contact position information, which limits its use in application scenarios that require accurate position sensing (such as robot fine operation, high-precision human-computer interaction).

[0006] Problem two: in order to realize contact detection of a larger area (such as 60x60mm level), the existing magnetic sensitive electronic skin often needs to deploy multiple magnetic sensors (at least two, usually four or more), which results in high system complexity, increased cost, and wiring difficulty; and the signals between the magnetic sensors may interfere with each other; in addition, a larger number of magnetic sensors will occupy more physical space, which is not conducive to the design of flexibility, lightness and integration of the entire electronic skin.

[0007] The core challenge of magnetic positioning is how to realize high-resolution, large-area sensing of the contact position with a limited number of sensors.

[0008] Therefore, there is an urgent need for a solution that can achieve high resolution and large-area sensing of contact locations with a limited number of magnetic sensors. Summary of the Invention

[0009] In view of the above problems, the purpose of this invention is to provide a magnetically sensitive electronic skin to solve the problem that existing magnetically sensitive electronic skins cannot achieve high resolution and large-area sensing of contact locations.

[0010] The magnetically sensitive electronic skin provided by this invention includes a magnetic elastomer, a magnetic sensor, and a signal processing module, wherein; The magnetic projectile includes a surface structure and magnetic cilia distributed on the surface structure. The magnetic cilia are used to deform based on external contact force to generate a magnetic change signal. The magnetic sensor is used to sense the magnetic change signal and send it to the signal processing module; The signal processing module is used to determine the position and magnitude of the external contact force based on the magnetic change signal.

[0011] Alternatively, two dividing lines can be provided on the surface structure; wherein both dividing lines pass through the geometric center point of the planar structure and are perpendicular to each other; and... The surface structure is divided into four magnetic regions based on the two dividing lines, and each magnetic region is provided with magnetic cilia.

[0012] Alternatively, in each magnetic region, the magnetic cilia are arranged in an inclined radial pattern centered on the geometric center point.

[0013] Furthermore, an alternative approach is that the magnetic cilia are tilted in both inward and outward directions; and, There are at least two magnetic regions where the magnetic cilia are tilted in different directions.

[0014] Alternatively, the magnetic sensor is positioned directly below the geometric center point; and the angle between the edge of the magnetic sensor and any dividing line is 45°. Based on the placement angle of the magnetic sensor, each magnetic region is divided into two sensing regions.

[0015] Alternatively, the surface structure can be circular or a regular polygonal structure.

[0016] Alternatively, the magnetic sensor may include a three-dimensional Hall sensor; and, The magnetic change signal is a triaxial magnetic field signal.

[0017] Alternatively, the magnetic cilia may be microrod-like structures; and / or, Magnetic material is embedded inside the magnetic cilia.

[0018] Alternatively, the signal processing module may include a pre-trained machine learning model; and, The signal processing module is used to process the magnetic change signal based on the machine learning model to determine the location and magnitude of the external contact force.

[0019] On the other hand, the present invention also provides a method of using the aforementioned magnetically sensitive electronic skin, comprising: The magnetic cilia on the magnetic projectile deform based on external contact force to generate magnetic change signals; The magnetic sensor senses the magnetic change signal and sends it to the signal processing module. The signal processing module determines the location and magnitude of the external contact force based on the magnetic change signal.

[0020] Compared with the prior art, the magnetically sensitive electronic skin and its method of use provided by the present invention have the following advantages: By incorporating a magnetic projectile, a magnetic sensor, and a signal processing module, including a surface structure and magnetic cilia distributed on the surface structure, precise sensing of the position and magnitude of external contact forces can be achieved, significantly improving the sensing accuracy of the magnetically sensitive electronic skin. Furthermore, the specially arranged magnetic cilia distribution (such as an inclined radial distribution) can effectively enhance the magnetic field gradient and simplify the magnetization process.

[0021] To achieve the foregoing and related objectives, one or more aspects of the invention include the features which will be described in detail below and specifically pointed out in the claims. The following description and accompanying drawings illustrate certain exemplary aspects of the invention. However, these aspects indicate only a few of the various ways in which the principles of the invention can be used. Furthermore, the invention is intended to include all such aspects and their equivalents. Attached Figure Description

[0022] Other objects and results of the invention will become more apparent and readily understood with reference to the following description taken in conjunction with the accompanying drawings and the contents of the claims, and with a more complete understanding of the invention. In the drawings: Figure 1 A perspective view of a magnetically sensitive electronic skin provided according to an embodiment of the present invention; Figure 2 This is a top view of a magnetically sensitive electronic skin provided according to an embodiment of the present invention; Figure 3A side view of a magnetically sensitive electronic skin provided according to an embodiment of the present invention; Figure 4 A bottom view of the magnetically sensitive electronic skin provided according to an embodiment of the present invention; Figure 5 A sensing zone diagram of a magnetically sensitive electronic skin according to an embodiment of the present invention; Figure 6 A simulation diagram of a magnetically sensitive electronic skin provided according to an embodiment of the present invention; Figure 7 This is a simulation diagram of the pressing position of the magnetically sensitive electronic skin according to an embodiment of the present invention; Figure 8 A physical image of a magnetically sensitive electronic skin provided according to an embodiment of the present invention; Figure 9 A flowchart illustrating a method of using a magnetically sensitive electronic skin according to an embodiment of the present invention; Figure labels: 1. Magnetic cilia, 2. Surface structure, 3. Magnetic sensor. Detailed Implementation

[0023] In the following description, numerous specific details are set forth for illustrative purposes and to provide a thorough understanding of one or more embodiments. However, it will be apparent that these embodiments may also be implemented without these specific details. In other instances, well-known structures and devices are shown in block diagram form for ease of description of one or more embodiments.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] Before introducing the magnetically sensitive electronic skin provided by this invention, it is necessary to first describe the structure of existing commercially available magnetically sensitive electronic skin based on Hall sensors. Existing magnetically sensitive electronic skins typically use multiple independently magnetized magnetic films spliced ​​together as the force-to-magnetic conversion structure. For example, four independently magnetized magnetic films can be used to form a "symmetrical" overall magnetization layout structure, creating a complex magnetic field distribution through splicing. This distribution helps the magnetic sensor more accurately capture three-dimensional magnetic field changes, thereby accurately resolving the position and force of the contact point.

[0026] Furthermore, the existing distribution method described above forms a symmetrical or partitioned magnetic field structure, enhancing the ability to distinguish contact forces in different areas, especially in large-area applications to avoid signal aliasing. However, in existing magnetic film splicing schemes, the magnetic field changes abruptly at the splicing points, leading to a decrease in the positioning accuracy of external contact forces. Moreover, some of these magnetically sensitive electronic skins manufactured using magnetic film splicing have complex manufacturing processes, requiring the separate magnetization, alignment, and fixing of multiple magnetization modules, resulting in excessively high production difficulty and costs. In addition, the consistency of multiple magnetically sensitive electronic skins manufactured in this way is poor.

[0027] Furthermore, structures composed of multiple (e.g., four) magnetic films with different magnetization directions only offer different magnetic field strength variation patterns corresponding to the number of films (e.g., four), leaving room for improvement in the magnetic field gradient. A larger magnetic field gradient means that the change in magnetic field strength is more significant within the same area. Hall sensors can more accurately capture these changes, thus more precisely locating the contact point. Especially on larger magnetic films, if the magnetic field gradient is small, the magnetic field changes in adjacent areas may not be obvious enough, leading to signal aliasing (making it difficult to distinguish different contact points). Increasing the gradient can enhance the magnetic field differences between regions and reduce the risk of aliasing.

[0028] The specific architecture of the magnetically sensitive electronic skin provided by this invention will be described in detail below. Figure 1 The three-dimensional structure of the magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown. Figure 2 The top view of the magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown. Figure 3 The side view structure of the magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown. Figure 4 The diagram shows a bottom view of the magnetically sensitive electronic skin provided according to an embodiment of the present invention. Figure 5 The partitioned structure of the magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown. Figure 6 A simulation structure of the magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown. Figure 7 The pressing position of the magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown. Figure 8A physical image of a magnetically sensitive electronic skin provided according to an embodiment of the present invention is shown.

[0029] Combination Figures 1 to 8 As can be seen, the magnetically sensitive electronic skin provided by the present invention includes a magnetic projectile integrating magnetism and elasticity, a magnetic sensor 3 for sensing the surrounding magnetic field, and a signal processing module for processing the signal generated by the magnetic sensor 3. Specifically, to realize the fabrication of the magnetic projectile, the magnetic projectile may include a flexible (elastic) surface structure 2 and magnetic cilia 1 distributed on the surface structure 2.

[0030] To achieve the fabrication of magnetic cilia 1, magnetic cilia 1 can be designed as a micro rod-shaped structure with magnetic material embedded inside. This micro rod-shaped structure can generate a response in a magnetic field and disturb the surrounding magnetic field to change.

[0031] In actual use, an external contact force is applied to a magnetic filament 1 at a certain position on the magnetic projectile. The magnetic filament 1 at that position deforms based on the external contact force to generate a magnetic change signal. The magnetic sensor 3 can accurately capture the magnetic change signal and send it to the signal processing module. The signal processing module is used to analyze the magnetic change signal to determine the position and magnitude of the external contact force.

[0032] In one specific embodiment of the present invention, in order to achieve the setting of three zones for the magnetic sensor and complete the setting of multiple magnetic field gradients for the magnetic projectile, such as... Figure 2 As shown, two dividing lines can be set on the surface structure 2 of the magnetic projectile; both dividing lines need to pass through the geometric center point of the planar structure and be perpendicular to each other; the surface structure 2 is divided into four magnetic regions based on the two dividing lines, and magnetic cilia 1 are set in each magnetic region.

[0033] It should be noted that for magnetically sensitive electronic skin, if the magnetic field gradient is small, the magnetic field change in adjacent areas may not be obvious, leading to signal aliasing (making it difficult to distinguish different contact points). The magnetically sensitive electronic skin provided by this invention can effectively increase the magnetic field gradient, enhance the magnetic field difference between magnetic areas, and reduce the risk of aliasing by distributing the magnetic cilia 1 in each magnetic region in an inclined radial pattern with the geometric center point as the center.

[0034] Furthermore, it should be noted that, for each magnetic region, the tilt direction of the magnetic cilia 1 can be divided into inward tilt (e.g., Figure 1 As shown, tilting towards the geometric center point) and tilting outwards (as shown) Figure 1As shown, the magnetic cilia 1 in the magnetic region are tilted away from the geometric center point; and, in actual manufacturing, at least two magnetic regions have different tilt directions of magnetic cilia 1 (preferably, the magnetic cilia 1 in two adjacent magnetic regions have different tilt directions to enhance the magnetic field difference between each magnetic region and reduce the risk of aliasing).

[0035] In another preferred embodiment of the present invention, the magnetic sensor 3 can be positioned directly below the geometric center point; and the angle between the edge of the magnetic sensor 3 and any dividing line is 45°. By setting such a placement angle for the magnetic sensor 3, each magnetic area can be further divided into two sensing areas, thereby making the entire surface structure 2 divided into 8 sensing areas (e.g., around the magnetic sensor 3 as the center) Figure 5 (as shown), thereby further improving the resolution of the magnetically sensitive electronic skin.

[0036] It should be noted that the surface structure 2 is preferably set to be a circular or regular polygonal structure (such as a regular quadrilateral). This design allows for the division of 8 sensing areas with equal areas and two symmetrical features, thus ensuring that the resolution of each sensing area is equal.

[0037] Furthermore, the magnetic sensor 3 in the magnetically sensitive electronic skin provided by the present invention preferably uses a three-dimensional Hall sensor; and the three-dimensional Hall sensor can accurately sense the surrounding three-axis magnetic field signal (magnetic change signal) and transmit it to the signal processing module, thereby further improving the sensing accuracy of the magnetically sensitive electronic skin provided by the present invention.

[0038] In another preferred embodiment of the present invention, the signal processing module may include a pre-trained machine learning model. In the actual design process, the machine learning model can use a PINN neural network combined with a physical model (here, the physical model is used to characterize the different magnetic response characteristics of the eight induction zones) and a deep learning model to embed physical prior knowledge into the neural network training process, thereby reducing the model's dependence on massive labeled data and avoiding the model learning "false features" that contradict physical laws, thus improving generalization ability and prediction accuracy.

[0039] In practical applications, the signal processing module can be used to analyze and process the magnetic change signals transmitted by the magnetic sensor 3 based on a machine learning model to determine the location and magnitude of the external contact force. It should be noted that, due to the complex and nonlinear relationship between magnetic field changes and the external contact force, machine learning models have significant advantages in modeling and analyzing this relationship.

[0040] To further illustrate the present invention, a method for using a magnetically sensitive electronic skin is also provided. Figure 9 The flowchart illustrates a method for using a magnetically sensitive electronic skin according to an embodiment of the present invention, consisting of...Figure 9 It is understood that the method of using the magnetically sensitive electronic skin provided by the present invention includes: S110: The magnetic cilia 1 on the magnetic projectile deform based on the external contact force to generate a magnetic change signal; S120: The magnetic sensor 3 senses the magnetic change signal and sends it to the signal processing module; S130: The location and magnitude of the external contact force are determined based on the magnetic change signal through the signal processing module.

[0041] The magnetically sensitive electronic skin provided by this invention uses specially arranged magnetic cilia 1 and a simple magnetization method, which can effectively avoid the problem of reduced measurement accuracy caused by splicing of existing magnetic films. Furthermore, the magnetically sensitive electronic skin provided by this invention can further increase the magnetic field gradient by dividing the planar structure into sections and setting magnetic cilia 1 in corresponding tilt directions in each section, making the change in magnetic field strength more significant in the same area. In addition, by using a machine learning model to analyze and process the magnetic change signal transmitted by the magnetic sensor 3, the positioning accuracy of the contact force position can be significantly improved and the manufacturing process can be simplified.

[0042] The structure of the magnetically sensitive electronic skin provided by the present invention and the specific process of its application are described in detail below by way of embodiments.

[0043] Example 1: In this embodiment, the magnetic cilia 1 are designed as miniature rod-shaped structures with embedded magnetic materials, enabling them to respond in a magnetic field; the fabricated magnetic cilia 1 are distributed in a square (…). On the surface (surface structure 2) of mm, the surface structure 2 is divided into four square regions (magnetic regions) by two straight lines (horizontal dividing lines and vertical dividing lines) passing through the geometric center point of the square surface. The two straight lines form a cross-shaped dividing structure. The magnetic cilia 1 on the surface structure 2 are divided into the corresponding square regions and are distributed in a specific radial inclined pattern within the corresponding square regions. For the magnetization method of the magnetic material, magnetization is carried out in the direction perpendicular to the square surface (either upward or downward magnetization is acceptable).

[0044] It should be noted that the arrangement and tilt direction of the magnetic cilia 1 are key to achieving high spatial resolution. In this embodiment, the magnetic cilia 1 are distributed in a matrix within the corresponding square area, and the tilt direction is set to face the geometric center point of the square surface or to face away from the geometric center point of the square surface.

[0045] Regarding the setting of the tilt direction of the magnetic cilia 1 within each square region, in this embodiment, as follows: Figure 1As shown, in the upper right square region, magnetic cilia 1 are set to tilt inwards towards the geometric center of the square surface; in the upper left square region, magnetic cilia 1 are set to tilt outwards towards the opposite direction to the geometric center of the square surface; in the lower left square region, magnetic cilia 1 are set to tilt inwards towards the geometric center of the square surface; and in the lower right square region, magnetic cilia 1 are set to tilt outwards towards the opposite direction to the geometric center of the square surface. (It should be noted that the tilting direction of magnetic cilia 1 is not limited to this one, and the tilting direction of cilia in different regions can be interchanged).

[0046] For the magnetic sensor, this embodiment uses a three-dimensional Hall sensor; in this embodiment, the three-dimensional Hall sensor is precisely placed directly below the geometric center of the square surface, 11 mm away from the magnetic filament directly above, and rotated 45° clockwise in the horizontal plane (referring to any base of the square as 0°). Figure 4 (As shown); the three-dimensional Hall sensor is used to detect the magnetic field change signal caused by the deformation of magnetic cilia 1 in a square area. The three-dimensional Hall sensor can accurately measure the surrounding three-axis (x, y, z) magnetic field signal, providing a data basis for the subsequent signal processing module to analyze the external contact force.

[0047] After the three-dimensional Hall sensor is placed in the manner described above, the entire square surface is further divided into eight independent sensing areas (e.g., Figure 5 As shown), this method of further subdividing the square surface is based on the unique tilting and arrangement of the magnetic cilia 1 in different magnetic regions and the setting of the sensing characteristics of the three-dimensional Hall sensor in different directions, which enables each sensing area to generate a unique magnetic field disturbance mode when subjected to external contact force.

[0048] The detection mechanism in this embodiment is based on the synergistic effect of the magnetic cilia array 1 on the surface structure 2 and the three-dimensional Hall sensor. When an external contact force is applied to the magnetic cilia 1, the magnetic cilia 1 deforms, causing a change in the surrounding magnetic field. The three-dimensional Hall sensor located directly below the surface structure 2 captures these three-dimensional magnetic field change signals by measuring the three-axis (x, y, z) magnetic field signals. The subsequent signal processing module analyzes and processes the three-axis magnetic field signals collected by the three-dimensional Hall sensor to deduce information such as the position and magnitude of the external contact force.

[0049] In this embodiment, to achieve accurate detection of the position and magnitude of the external contact force, a physical model can be introduced into the machine learning algorithm for constraint. The physical model is the magnetic response characteristics of different induction zones in an elastic magnet (e.g., Figure 6(As shown). In practical use, it is necessary to apply a constant external contact force at different specific locations, and then collect triaxial magnetic signal data of each sensing area to train a pre-defined machine learning model; the input of the machine learning model is the triaxial magnetic signal of the three-dimensional Hall sensor, and the output is the precise location and magnitude of the contact force (as shown). Figure 7 (As shown in the figure); after the machine learning model is trained, the location and magnitude of the external contact force can be predicted in real time based on the measured triaxial magnetic signal.

[0050] As can be seen from the above specific embodiments, the defect type assessment method based on electromagnetic ultrasonic echo provided by the present invention has at least the following advantages: 1. It has specially arranged magnetic cilia and a simple magnetization method, which can effectively avoid the problem of reduced measurement accuracy caused by splicing of existing magnetic films; 2. By dividing the planar structure into sections and setting magnetic cilia with corresponding tilt directions in each section, the magnetic field gradient can be further increased, making the change in magnetic field strength more significant under the same area. 3. By using a machine learning model to analyze and process the magnetic change signal transmitted by the magnetic sensor, the positioning accuracy of the contact force position can be significantly improved, and the manufacturing process can be simplified.

[0051] As per the above reference Figures 1 to 5 The magnetically sensitive electronic skin according to the present invention is described by way of example. However, those skilled in the art will understand that various modifications can be made to the magnetically sensitive electronic skin proposed in the present invention without departing from the scope of the invention. Therefore, the scope of protection of the present invention should be determined by the contents of the appended claims.

Claims

1. A magnetically sensitive electronic skin, characterized by, The magnetic elastic body, the magnetic sensor, and a signal processing module are included. The magnetic elastic body includes a surface structure and magnetic cilia distributed on the surface structure, and the magnetic cilia are used to deform based on an external contact force to generate a magnetic change signal. The magnetic sensor is used to sense the magnetic change signal and send it to the signal processing module. The signal processing module is used to determine the position and size of the external contact force based on the magnetic change signal.

2. The magnetic sensitive electronic skin of claim 1, wherein Two division lines are arranged on the surface structure, and the two division lines pass through the geometric center point of the planar structure and are perpendicular to each other; and The surface structure is divided into four magnetic regions based on the two division lines, and the magnetic cilia are arranged in each magnetic region.

3. The magnetic sensitive electronic skin of claim 2, wherein In each magnetic region, the magnetic cilia are distributed in an inclined radial manner with the geometric center point as the center.

4. The magnetic sensitive electronic skin of claim 3, wherein The inclination direction of the magnetic cilia includes inward inclination and outward inclination; and The inclination direction of the magnetic cilia in at least two magnetic regions is different.

5. The magnetic sensitive electronic skin of claim 4, wherein The magnetic sensor is directly below the geometric center point; and The angle between the side line of the magnetic sensor and any one of the division lines is 45°, and based on the placement angle of the magnetic sensor, each magnetic region is divided into two sensing regions.

6. The magnetic sensitive electronic skin of claim 2, wherein The surface structure is in a circular or regular polygonal structure.

7. The magnetic sensitive electronic skin of claim 1, wherein The magnetic sensor includes a three-dimensional Hall sensor; and The magnetic change signal is a three-axis magnetic field signal.

8. The magnetic sensitive electronic skin of claim 1, wherein The magnetic cilia are in a micro rod structure; and / or A magnetic material is embedded in the interior of the magnetic cilia.

9. The magnetic sensitive electronic skin of claim 1, wherein The signal processing module includes a pre-trained machine learning model; and The signal processing module is used to process the magnetic change signal based on the machine learning model to determine the position and size of the external contact force.

10. A method for using the magnetic sensitive electronic skin of any one of claims 1 to 9, comprising: The magnetic cilia on the magnetic elastic body deform based on an external contact force to generate a magnetic change signal; The magnetic change signal is sensed by the magnetic sensor and sent to the signal processing module; The signal processing module determines the position and size of the external contact force based on the magnetic change signal.

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