Force estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieving precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor (VBTS) that integrates a magnetic perception mechanism, and develops a new tactile sensor called MagicGel. The sensor uses strong magnetic particles as markers and captures magnetic field changes in real time through Hall sensors. On this basis, MagicGel achieves the coordinated optimization of multimodal perception capabilities: it not only has fast response characteristics, but also can perceive non-contact status information of home electronic products. Specifically, MagicGel simultaneously analyzes the visual characteristics of magnetic particles and the multimodal data of changes in magnetic field intensity, ultimately improving force estimation capabilities.

This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

With the flourishing of the credit card business and Internet technology, the risk of fraudulent credit card transactions is ever-increasing due to the complex information involved in the credit card business. Since the high redundancy of feature information and imbalance of class distribution in transaction data, the performance of the existing machine learning-based models for detecting credit card fraudulent transactions still needs to be improved. Therefore, it is crucial to build fraud detection models for effective feature engineering and sampling techniques. This article proposes a credit card fraud detection model incorporating a fraud feature-boosting mechanism with a spiral oversampling balancing technique (SOBT). Specifically, we present a compound grouping elimination strategy to exclude highly redundant and correlated features from the credit card transaction dataset and improve the data quality. Furthermore, we design a multifactor synchronous embedding mechanism, which combines the performance evaluation metrics of the embedding model for each feature and improves the decision-making ability of each feature for the target domain. Moreover, we propose an SOBT to balance the ratio of legitimate to fraudulent transactions, which improves the ability of the fraud detection model to distinguish legitimate from fraudulent transactions. Extensive experimental results based on two real-world datasets demonstrate that our methods can facilitate efficient credit card fraud detection and achieve better performance than state-of-the-art methods.