机器人可穿戴FBG人工皮肤感知机理及信息处理方法研究

机器人人工皮肤可为当前人机协作中的安全问题提供一种全方位触觉感知解决方案。本课题拟研究FBG植入PDMS硅胶的人工皮肤力感知机理与信息处理方法，通过不同FBG串阵列、FBG测点、皮肤接触力等模拟，形成一种新的机器人力触觉传感器。研究内容：拟采用FBG传输矩阵方法、耦合模理论，结合光纤植入PDMS后的应变、温度传递机理，建立数学模型；采用ANSYS有限元、Optiwave等手段，进行局部点和整体面接触力数值模拟，优化人工皮肤的结构、尺寸、技术指标及静动态性能；研究FBG传感阵列的动态矩阵、插值逼近与神经网络理论识别的映射算法，搭建FBG解调的静、动态人工皮肤实验系统，进行力触觉各种测试和机器人臂上测试、数据波形分析与力谱云图映射，分析阵列化FBG反射谱信息、提取特征量；拟给出一套人工皮肤的结构设计与制备工艺方法，为低成本人工皮肤的制作奠定基础。

Robot artificial skin can produce tactile sensing and object protecting in human-machine cooperation safety problem method and solving technology. In this project,sensing principle and data processing method based FBG embeded in PDMS silicon rubber is studied, accordingly, a novel and practical robot artificial skin unit based on FBG embedded PDMS silicon rubber is put forward as the last research goal. Different FBG string array, FBG measuring node and skin tactile sensor force are simulated and then designed to fabricate robot tactile sensor. Mode-coupling theory and Transfer Matrix Method are mixed with strain and temperature sensing principle of fiber embedded PDMS for the purpose of mathematical model.Ansys finite element and Optiwave software are used to simulated and analyzed to optimize artificial skin structure,dimension,parameter, static and dynamic performance.FBG node and artificial skin are fabricated via twice PDMS mould technology. Dynamic array, Interpolation approximation, neural network methods of FBG sensor array demodulation are studied and mapped. Static and dynamic artifical skin experimental system of FBG array are set up. All kinds of tactile force testing and true detecting in robot arm are to be finished,meanwhile, testing data wave and force spectrum map are calculated and presented.Optical reflective spectrum of FBG array are analyzed and extracted useful features. At last, structure desgin and fabrication technology of artificial skin are optimized over and over, the tactile sensor measurement value will be given as well. A serial artificail skin desgin and fabrication method is given.This application is meaningful and significant in view of researching and marketing area. It plays an important role in low cost product of artificial skin.