Low-hysteresis highly reversible topological magnetized elastomer for robotic tactile

Elastomers are essential for flexible tactile sensors but suffer from mechanical hysteresis and energy dissipation, limiting robotic sensing stability. We developed a low-hysteresis magnetic elastomer using a topologically magnetized network and 3D-printed rhombic dodecahedron structure, exploiting magnetic repulsion for enhanced performance. The material achieves 0.1 MPa modulus, 0.12 energy loss coefficient (70% strain), and 98% reversibility as a force-to-magnetic conversion medium. The resulting sensor exhibits 1.18% hysteresis (0-115 kPa), minimal energy loss, and superior reversibility compared to conventional elastomers. Integrated into robotic hands, it enables stable static gripping (5+ h) and maintains signal accuracy after 30,000+ dynamic cycles. This work provides a high-performance elastomer design for durable and precise robotic tactile perception.