Fig. 1. Working principle diagram of axial strain and contact force of flexible sensing fiber tube

Fig. 2. Main steps of fabrication process， physical image and resistance change under force and axial strain loading （a） before injection of indium gallium alloy （b） after injection of indium gallium alloy （c） formed flexible sensing tubes of different lengths （d-f ） initial state， sensing tube resistance changes under strain and contact force loads

Fig. 3. Flexible finger joint perception unit integration

Fig. 4. Bending effect under different input air pressures

Fig. 5. Fingertip force sensing unit test platform

Fig. 6. Relationship between finger bending Angle and resistance change

Fig. 7. Relationship between vertical external force applied by fingertips and resistance change

Fig. 8. Force and angle simulation curves

Fig. 9. Force and angle tracking error curves