光纤光栅柔性机械手指的多参数感知方法  

A Multi-parameter Sensing Method for Flexible Robotic Fingers Based on Fiber Bragg Grating

作　　者：张寅祥 冯艳 周依霖 曲博 赵峰志 张华 ZHANG Yinxiang;FENG Yan;ZHOU Yilin;QU Bo;ZHAO Fengzhi;ZHANG Hua(Robotics Research Institute,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机器人研究所,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》2025年第3期57-70,共14页Acta Photonica Sinica

基　　金：国家自然科学基金(No.51665039);上海市地方院校能力建设项目(No.23010501600)。

摘　　要：为提升机械手的精细操作性能和智能化水平,实现高精度、实时的多信息感知,提出了一种基于光纤布拉格光栅的仿人柔性机械手指多参数感知方法。该设计在悬臂式手指骨架中嵌入光纤布拉格光栅差动感知阵列,有效解决了应变与温度的交叉干扰问题。通过支持向量机对不同接触位置的光纤布拉格光栅传感器中心波长的标准差特征值进行分类训练,实现对触压力、接触温度和接触位置的综合感知。标定实验结果表明,嵌入柔性机械手指中的光纤布拉格光栅感知阵列的应力和温度灵敏度分别为112.898 pm/N和81.185 pm/℃。应力/温度耦合实验进一步验证了该光纤光栅柔性手指在10~50℃温度范围内均能保持测量的高精度和高灵敏度,最低平均误差仅为-0.025 6 nm。支持向量机分类训练结果显示,光纤布拉格光栅柔性手指触觉位置感知准确率达95.5%。设计的柔性机械手指可用于智能机器人、假肢及人机交互等领域。The tactile perception of a flexible humanoid robotic finger is essential for advancing applications in the fields of intelligent robotics,human-computer interaction,and prosthetics.This work presents a novel multi-parameter sensing method using fiber Bragg grating embedded in a cantilevered robotic finger structure.It aims to address the challenges posed by strain and temperature cross-sensitivity in tactile sensing systems.By embedding a differential sensing array of fiber Bragg grating sensors into the robotic finger,the design achieves accurate,real-time measurement of tactile force,contact temperature,and contact position while maintaining robustness and flexibility.The robotic finger is designed to closely replicate the structural and functional characteristics of a human finger,providing both dexterity and adaptability.The cantilevered finger bone is fabricated from polylactic acid through 3D printing,ensuring lightweight and high-strength properties.Six fiber Bragg grating sensors are symmetrically embedded within the cantilevered structure in pairs to form a differential sensing array.This differential configuration allows for the temperature compensation by sensing the same temperature and the opposite strain.This design effectively decouples strain and temperature effects,significantly improving the reliability of the sensor readings under varying environmental conditions.To ensure high precision,each fiber Bragg grating sensor in the array was carefully calibrated.Calibration experiments were performed to determine the stress and temperature sensitivities of the fiber Bragg grating sensors.The experimental results revealed that the embedded fiber Bragg grating array achieved a stress sensitivity of 112.898 pm/N and a temperature sensitivity of 81.185 pm/℃.Furthermore,the sensors demonstrated excellent accuracy and stability across a wide temperature range(10~50℃),with a minimum average measurement error of-0.0256 nm.These results confirm the effectiveness of the differential sensing array in disti

关 键 词：光纤布拉格光栅 仿人柔性机械手指 差动感知阵列 触压力 接触温度 接触位置 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]