Author Affiliations
1Chongqing Key Laboratory of Optical Fiber Sensor and Photoelectric Detection, Chongqing University of Technology, Chongqing 400054, China2School of Communications and Information Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, Chinashow less
Fig. 1. Schematic diagram of a FIMF sensor simulating human finger skin. (a) Structure of fingertip skin; (b) structure of FIMF sensor
Fig. 2. Effect of sensor layer thickness on performance. (a) Effect of PDMS thickness on stress; (b) effect of annular ridge thickness on stress
Fig. 3. Sensor mechanical response. (a) Planar deformation distribution where the optical fiber is located; (b) stress distribution under different conditions; (c) sensor output response under finger press sliding
Fig. 4. Schematic diagram of the structure of dual-mode interference MNF
Fig. 5. Micro-nano fiber. (a) Change of effective refractive index and MNF diameter of HE11 and HE12 modes when the wavelength is 1550 nm; (b) MNF analog spectra with diameters of 10 μm, 5 μm, and 2.3 μm; (c) changes in FSR around 1550 nm for different diameters of MNF
Fig. 6. Physical diagram of the sensor. (a) Microscope diagram of MNF with a diameter of 5 μm; (b) physical drawing of FIMF;(c) transmission spectra before and after packaging
Fig. 7. Comparison and calibration of mechanical properties. (a) Diagram of the experimental system for mechanical property testing; (b) comparison of sensors with different structural packages; (c) FIMF pressure spectral response; (d) FIMF sensitivity; (e) repeatability; (f) response/recovery time
Fig. 8. Mechanical property tests. (a) Response curve for incremental pressure; (b) repeatability testing; (c) sensor response of different frequencies at 1 N pressure; (d) different pressure sensors response at 0.5 Hz
Fig. 9. Hardness perception. (a) Diagram of the experimental system; (b) relationship between the change in the transmission strength and hardness of the three cycles ; (c) relationship between the change in strength and the change in hardness of a single cycle; (d) relationship between hardness and transmission strength of 30 cycles; (e) FIMF integration into the manipulator; (f) waveforms of intensity changes when gripping different objects using a robotic hand integrated with FIMF
Fig. 10. Texture perception. (a) Schematic diagram of the experimental system; (b) test objects with a spacing of 4 mm; (c) response waveform of the contact scan; (d) response waveforms scanned at different pressures; (e) response waveform at 50 mm/s and 100 mm/s scanning speed
Fig. 11. Different scanning speeds. (a) Response waveform; (b) spectrograms of FFT transforms; (c) time-frequency diagram of FFT transform
Fig. 12. Test objects with different textures. (a) Physical drawings of test objects with texture spacing of 1 mm and 0.5 mm; (b) response waveform; (c) time-frequency diagram of FFT transform
Package material | Micro structure | Highest sensitivity | Working range | Fiber diameter | Response time | Ref. |
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PDMS | None | 1870 kPa-1 | 0-3 N | 0.5 µm | 20 µs | [15] | PDMS/resin | Parallel ring | 5.4 %N-1 | 0-20 N | 1.2 µm | — | [17] | PDMS/resin | Interlocking | 20.58 %N-1 | 0-16 N | 5 µm | 86 ms | Proposed |
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Table 1. Performance comparison with other micro-nano fiber tactile pressure sensors