基于光纤Bragg光栅的机器人力/力矩触觉传感技术研究进展

Advances in Robot Force/Torque Tactile Sensing Technology Based on Fiber Bragg Grating

力觉传感器是机器人最重要的外部传感器之一。随着特种机器人的兴起,研发能适应特殊环境(如微创手术、核磁共振手术、救灾救援、核电站、消防等)的新型力传感器显得尤为重要。光纤Bragg光栅(FBG)是一种新型无源光器件,以光为传感信号,具有无电检测、不受电磁干扰、无零漂、精度高、耐高温、单根光纤可串接多个光栅等优势。自2001年国外学者首次将FBG用于机器人多维力传感技术后,基于FBG的力/力矩触觉传感技术逐渐得到广泛研究和应用。基于此,综述了目前国内外基于光纤Bragg光栅原理的多维力/力矩传感技术、力触觉传感技术设计及应用的研究现状,展望了其发展趋势。

Force and torque sensor is one of the most important external sensors for robots. With the development of special robots, it is becoming more and more important to research and develop a new type of force sensors that could be applied to special environment, such as minimally invasive surgery, nuclear magnetic resonance surgery, rescue and relief, nuclear power station, fire fighting, etc. As a special type of optical passive component, the fiber Bragg grating （FBG）, taking light as sensing signal, is of prominent advantages, such as non-electric detection, immunity to electromagnetic noise, no zero drift, high precision, high temperature resistance, and the fact that multiple FBGs can be arrayed along a single fiber. Since FBGs was first used in robot multi-component force sensors in 2001, FBG based force/torque tactile sensing technology has been researched and applied widely. We describes the state of the art in multi-component force/torque sensing and tactile sensing technologies based on FBG, and presents the future work.