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为实现机械手指的复合式触觉传感,以光纤布拉格光栅(FBG)为传感元件,将压力传感器和温度传感器封装在同一聚合物传感单元中。分析了压力传感器受目标物体温度扰动的特性,同时利用逆传播神经网络对FBG触觉传感信号进行处理,实现了对传感单元表面正向压力的准确识别。仿真与实验结果表明,该方法进一步消除了目标物体温度对应变传感器的影响,减小了应变传感器的不确定性误差,提高了压力测量结果的稳定性和测量精度,补偿后压力传感器的温度漂移率仅为1.2×10-4 nm/℃。将补偿研究应用于机械手指FBG触觉传感阵列,可以有效抑制温度对应变传感的干扰,使得柔性机械手指触滑测量系统具有更加广阔的应用前景。
In order to realize the composite tactile sensing of the mechanical finger, a pressure sensor and a temperature sensor are packaged in the same polymer sensing unit with a fiber Bragg grating (FBG) as a sensing element. The characteristics of the pressure sensor disturbed by the temperature of the target object are analyzed. At the same time, the inverse sensory neural network is used to process the FBG tactile sensing signal, which realizes the accurate identification of the positive pressure on the sensing unit surface. Simulation and experimental results show that this method can further eliminate the influence of the target temperature on the strain sensor, reduce the uncertainty of the strain sensor, improve the stability and measurement accuracy of the pressure measurement result, and compensate the temperature drift of the pressure sensor The rate is only 1.2 × 10-4 nm / ° C. Applying the compensation research to FBG tactile sensor array can effectively restrain the interference of temperature to strain sensor, which makes the flexible finger touch measurement system have a broader application prospect.