用于假手指尖的光纤光栅触觉力传感器研究  

Research on the tactile force sensor of prosthetic hand finger based on fiber Bragg grating

作　　者：王雅纯 张小栋[1,2] 陆竹风 刘洪成 张腾 Wang Yachun;Zhang Xiaodong;Lu Zhufeng;Liu Hongcheng;Zhang Teng(School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,China;Key Laboratory of Education Ministry for Modern Design&Rotor-Bearing System,Xi'an Jiaotong University,Xi'an 710049,China)

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学现代设计及转子轴承系统教育部重点实验室,西安710049

出　　处：《仪器仪表学报》2021年第9期124-130,共7页Chinese Journal of Scientific Instrument

基　　金：国家重点研发计划(2017YFB1300303)项目资助。

摘　　要：针对现有假手触觉测量常用的薄膜压力传感器精度不佳、线性度差、迟滞性高等问题,研究了一种可安装于假手指尖的光纤布拉格光栅触觉力传感器。首先,通过传感单元的微小化结构设计,可以将施加的外力转化为光纤承受的轴向力;进而,通过有限元对传感器结构参数进行优化,提高了光纤光栅对于压力的灵敏度;然后,围绕假手指尖应用的需求,制作了这种光纤布拉格光栅触觉力传感器;最后,对该传感器进行了性能标定、对比分析和应用抓取3个实验分析,实验结果表明:该传感器压力灵敏度为0.1038 nm/N,线性度R^(2)为0.998,重复性误差为1.32%和迟滞性误差为2.19%;与现有的薄膜压力传感器对比,该传感器的线性度和重复度都更高,迟滞性更低。The thin-film pressure sensor in prosthetic tactile measurement has problems of low accuracy,poor linearity and high hysteresis.To address these issues,a tactile sensor based on the fiber Bragg grating(FBG)is studied.It can be easily installed on the fingertip.Firstly,a sensing unit is designed to convert the external force into an axial one needed by the FBG.Secondly,the finite element simulation is utilized to optimize the structure of the sensing unit.In this way,the sensitivity of pressure measurement is improved.Finally,the FBG tactile sensor is prepared and stuck to the prosthetic fingertip.Experiments on performance calibration,comparative analysis,and grasping application are carried out.Results show,for the FBG tactile sensor,the sensitivity is 0.1038 nm/N,the linearity R^(2) is 0.998,the repeatability error is 1.32%,and the hysteresis error is 2.19%.Compared with the thin-film pressure sensor,the designed FBG sensor has advantages of linearity,stable repeatability,and hysteresis.

关 键 词：光纤布拉格光栅 假手 触觉 传感器 优化 

分 类 号：TN247[电子电信—物理电子学] TH741[机械工程—光学工程]