In human-machine interaction, robotic hands are useful in many scenarios. To operate robotic hands via gestures instead of handles will greatly improve the convenience and intuition of human-machine interaction. Here, we present a magnetic array assisted sliding triboelectric sensor for achieving a real-time gesture interaction between a human hand and robotic hand. With a finger’s traction movement of flexion or extension, the sensor can induce positive/negative pulse signals. Through counting the pulses in unit time, the degree, speed, and direction of finger motion can be judged in real-time. The magnetic array plays an important role in generating the quantifiable pulses. The designed two parts of magnetic array can transform sliding motion into contact-separation and constrain the sliding pathway, respectively, thus improve the durability, low speed signal amplitude, and stability of the system. This direct quantization approach and optimization of wearable gesture sensor provide a new strategy for achieving a natural, intuitive, and real-time human-robotic interaction.

在人机交互中，机械手在很多场景中都有用。通过手势而不是手柄来操作机械手，将大大提高人机交互的便利性和直观性。在这里，我们提出了一种磁阵列辅助滑动摩擦电传感器，用于实现人手和机器人手之间的实时手势交互。随着手指弯曲或伸展的牵引运动，传感器可以感应出正/负脉冲信号。通过对单位时间内的脉冲进行计数，可以实时判断手指运动的程度、速度和方向。磁性阵列在产生可量化的脉冲方面起着重要作用。设计的磁阵列两部分可以分别将滑动运动转化为接触分离和约束滑动路径，从而提高耐用性，低速信号幅度和系统稳定性。这种直接量化方法和可穿戴手势传感器的优化为实现自然、直观和实时的人机交互提供了新的策略。