  To foster an immersive and natural human-robot interaction, the
implementation of tactile perception and feedback becomes imperative,
effectively bridging the conventional sensory gap. In this paper, we propose a
dual-modal electronic skin (e-skin) that integrates magnetic tactile sensing
and vibration feedback for enhanced human-robot interaction. The dual-modal
tactile e-skin offers multi-functional tactile sensing and programmable haptic
feedback, underpinned by a layered structure comprised of flexible magnetic
films, soft silicone, a Hall sensor and actuator array, and a microcontroller
unit. The e-skin captures the magnetic field changes caused by subtle
deformations through Hall sensors, employing deep learning for accurate tactile
perception. Simultaneously, the actuator array generates mechanical vibrations
to facilitate haptic feedback, delivering diverse mechanical stimuli. Notably,
the dual-modal e-skin is capable of transmitting tactile information
bidirectionally, enabling object recognition and fine-weighing operations. This
bidirectional tactile interaction framework will enhance the immersion and
efficiency of interactions between humans and robots.
