Opt Express. 2023 Nov 6;31(23):38268-38287. doi: 10.1364/OE.502912.
A fiber Bragg grating (FBG) based three-dimensional (3D) force sensor for a humanoid prosthetic hand is designed, which can precisely detect 3D force and compensate for ambient temperature. FBG was encapsulated in polydimethylsiloxane (PDMS) for force sensitization and immobilization, and the structural parameters of the sensor were optimized by using finite element simulation, so that its sensitivity to 3D force is enhanced. In the meantime, the calibration experiments for normal force fZ, shear force fX/fY, and temperature were conducted, and the 3D force data were decoupled using the least square (LS) and backpropagation (BP) neural networks decoupling methods, so that an overall decoupling error is 0.038. The results show that the sensor has a simple structure, high sensitivity, high linearity, good creep resistance, and rapid decoupling, providing a successful design for the 3D force detection of a humanoid prosthetic hand.
设计了一种基于光纤布拉格光栅（FBG）的仿人假肢手三维（3D）力传感器，可精确检测 3D 力并补偿环境温度。FBG 被封装在聚二甲基硅氧烷（PDMS）中，以实现力敏和固定，并且通过有限元模拟优化了传感器的结构参数，从而增强了其对 3D 力的灵敏度。同时，对法向力 fZ、剪切力 fX/fY 和温度进行了校准实验，并使用最小二乘（LS）和反向传播（BP）神经网络解耦方法对 3D 力数据进行了解耦，从而整体解耦误差为 0.038。结果表明，该传感器结构简单、灵敏度高、线性度好、抗蠕变性好、解耦速度快，为人形假肢手的 3D 力检测提供了一种成功的设计。
