穿戴式光纤光栅指套仿生触压感知性能研究  

Bionic Touch Sensing of Wearable Fingerstall Based onOptical Fiber Bragg Grating

作　　者：齐华 冯艳 潘睿智 徐毛毛 王昊祥 张洪溥 张华 QI Hua;FENG Yan;PAN Ruizhi;XU Maomao;WANG Haoxiang;ZHANG Hongpu;ZHANG Hua(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海市大型构件智能制造机器人技术协同创新中心,上海201620

出　　处：《光子学报》2023年第7期168-178,共11页Acta Photonica Sinica

基　　金：国家自然科学基金(No.51665039);江西省自然科学基金(No.20202BAB204018)。

摘　　要：针对灵巧机器手的仿生触压感知功能,以光纤布拉格光栅作为信息传输和感知载体设计了可穿戴的触压感知指套。分别对指套的三种触压状态进行研究,选择触压位置1为垂直指尖,触压位置2为倾斜15°指尖,触压位置3为倾斜30°指腹。触压感知特性分析和实验研究表明,在0~10 N的触压力范围内,该感知指套具有较好的灵敏度和线性度,在位置1、位置2、位置3的平均灵敏度分别为24.119 6 pm/N、10.338 3 pm/N、-1.580 7 pm/N,线性度都在99%以上,该指套能分辨出手指不同触压位置以及加载力(载荷)的大小。为进一步验证指套仿生触压感知性能,进行硬度辨别感知实验,提出了标准触压波深比作为硬度感知的量化表征参数。该传感指套可以感知出四种硬度硅胶,具有很好的重复性,重复性误差分别为3.82%、0.97%、0.51%、0.29%,为灵巧机器手触压感知的深入研究提供参考。With the further development of intelligent robots,bionic touch sensing has become an important means for the robotic dexterous hand to interact with the external environment,making it a hot topic.However,in the existing research on tactile perception of robotic hands,most of the sensing units have complex structures and are difficult to integrate in the hand.For touch sensing of the dexterous robot hand,this work employs optical Fiber Bragg Grating(FBG)as the information transmission and sensing carrier and develops a wearable touch fingerstall.The thumb fingerstall contains two segments:fingertip and finger pulp.The fingertip is composed of a curved surface and a plane surface.The curved surface can fit the thumb shape better,and the plane surface can provide a more stable touch.Specially,we use a cylindrical pin as the knuckle to connect the fingertip and finger pulp.The touch sensing of three contact positions of the fingerstall have been studied:position 1 is the vertical fingertip,position 2 is the 15°fingertip,and position 3 is the 30°finger pulp.Firstly,the fingerstall model was simulated using the finite element method to verify its structural feasibility.Then,the fingerstall was loaded using an electronic tension machine,ranging from 0 N to 10 N with a 1 N increment,and each load was held for 25 s.For each test position,the experiment was repeated three times,and the responses of FBG were recorded.Analysis of the touch sensing experimental data shows that the sensing fingerstall has good sensitivity and linearity within the 0~10 N touch pressure range.The average sensitivities at position 1,position 2,and position 3 are 24.1196 pm/N,10.3383 pm/N,and-1.5807 pm/N,respectively,with linearity above 99%.Overall,the simulation results are basically consistent with the experimental results,although some errors may arise due to 3D printing and FBG packaging.Therefore,different loading positions and forces can be distinguished by different center wavelength offset and offset direction of FBG.In order to verify

关 键 词：光纤布拉格光栅 可穿戴指套 仿生触压感知 硬度感知量化表征 灵巧机器手 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]