基于光纤光栅的柔性力传感器可精准监测机械手抓取力，提升操作稳定性。
A Flexible FBG-Based Contact Force Sensor for Robotic Gripping Systems
- 采用3D打印柔性外壳与双光纤光栅阵列，实现高灵敏度力检测。
- 量程4.69N，灵敏度1169.04 pm/N，误差仅0.12N，温度变化影响极小。
- 已集成于软体夹持器，支持闭环控制，适用于医疗、物流等场景。
软体机械手在安全抓取方面潜力巨大，但因缺乏集成传感器，常出现滑动或用力过猛问题。为此，本文设计了一种小型高灵敏度光纤布拉格光栅（FBG）力传感器，由3D打印的TPU外壳、微凸起与悬垂结构、双FBG阵列及保护管构成。通过力校准、重复性测试、滞后分析、与商用负载单元对比以及温漂补偿测试，验证了其性能：量程达4.69N，灵敏度约1169.04 pm/N，均方根误差（RMSE）为0.12N，最大滞后为4.83%；与商用负载单元相比，相对误差2.56%，RMSE为0.14N。温度变化11℃时，力测量RMSE低至0.01N，证明温补有效。该传感器成功集成于软体‘生长缠绕’夹持器中，实现对不同物体交互力的实时监测，在自动拾取-放置任务中应用闭环力控制，显著提升抓取稳定性。适用于制造、农业、医疗（如假肢）、物流与包装等领域，增强环境感知与操作效率。
原文摘要 · Abstract (English)
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such as slippage and excessive force exertion. To address this challenge, we present a small and highly sensitive Fiber Bragg Grating-based force sensor designed for accurate contact force measurement. The flexible force sensor comprises a 3D-printed TPU casing with a small bump and uvula structure, a dual FBG array, and a protective tube. A series of tests have been conducted to evaluate the effectiveness of the proposed force sensor, including force calibration, repeatability test, hysteresis study, force measurement comparison, and temperature calibration and compensation tests. The results demonstrated good repeatability, with a force measurement range of 4.69 N, a high sensitivity of approximately 1169.04 pm/N, a root mean square error (RMSE) of 0.12 N, and a maximum hysteresis of 4.83%. When compared to a commercial load cell, the sensor showed a percentage error of 2.56% and an RMSE of 0.14 N. Besides, the proposed sensor validated its temperature compensation effectiveness, with a force RMSE of 0.01 N over a temperature change of 11 Celsius degree. The sensor was integrated with a soft grow-and-twine gripper to monitor interaction forces between different objects and the robotic gripper. Closed-loop force control was applied during automated pick-and-place tasks and significantly improved gripping stability, as demonstrated in tests. This force sensor can be used across manufacturing, agriculture, healthcare (like prosthetic hands), logistics, and packaging, to provide situation awareness and higher operational efficiency.
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