3D打印出带透镜的软光学传感器，实现高精度机械感知。
3D-printed Soft Optical sensor with a Lens (SOLen) for light guidance in mechanosensing
- 在Y型波导前加打印透镜，通过旋转改变光路分配。
- 实测可重复实现多周期分支选择信号切换，方向与幅度均能编码。
- 适合追求单材料一体成型的软体机器人传感设计者。
增材制造正推动软体机器人向更复杂几何结构发展，对兼容单材料、一步成型的传感方案提出需求。光学软传感器适用于整体打印，但其性能常受非可控光传播（环境耦合、泄漏、散射）影响，而常见缓解策略通常需多材料界面。本文提出一种3D打印软光学传感（SOLen）方法：在Y型波导前端集成打印透镜，利用变形引起的透镜旋转与焦点位移，重新分配两分支间的光功率，生成差分输出以编码运动方向与幅度。采用丙烯酸聚氨酯树脂并添加月桂基丙烯酸酯提升柔性和透光率，通过单层光学表征获取波长依赖的折射率与透光率，同时最小化DLP打印层效应。测得的折射率用于仿真设计目标焦距的透镜轮廓，并以亚毫米级精度打印。旋转测试显示可实现多次循环下的可重复分支选择信号切换。该研究建立了一套可迁移的材料-光学工作流程，为下一代软体机器人提供具备新功能的光学传感解决方案。
原文摘要 · Abstract (English)
Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step fabrication. Optical soft sensors are attractive for monolithic printing, but their performance is often degraded by uncontrolled light propagation (ambient coupling, leakage, scattering), while common miti- gation strategies typically require multimaterial interfaces. Here, we present an approach for 3D printed soft optical sensing (SOLen), in which a printed lens is placed in front of an emitter within a Y-shaped waveguide. The sensing mechanism relies on deformation-induced lens rotation and focal-spot translation, redistributing optical power between the two branches to generate a differential output that encodes both motion direction and amplitude. An acrylate polyurethane resin was modified with lauryl acrylate to improve compliance and optical transmittance, and single-layer optical characterization was used to derive wavelength-dependent refractive index and transmittance while minimizing DLP layer-related artifacts. The measured refractive index was used in simulations to design a lens profile for a target focal distance, which was then printed with sub-millimeter fidelity. Rotational tests demonstrated reproducible branch-selective signal switching over multiple cycles. These results establish a transferable material-to-optics workflow for soft optical sensors with lens with new functionalities for next-generation soft robots
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