Bionic Slipping Perception Based on FBG Static-Dynamic Sensing Point.

An optical fiber sensing scheme that can detect the incipient slip is proposed and experimented with. Based on the biological principle of slipping which is accompanied by tactile force and vibration simultaneously, we design and build an ultra-short fiber Bragg grating (FBG) slipping perception system under the structure of wavelength-swept optical coherence tomography (OCT), which could sense the static-dynamic information at slipping time. In the time domain, the static force measurement is completed by wavelength signal envelope demodulation from the FBG sensing mechanism. Meanwhile, in the frequency domain, the dynamic vibration measurement is completed by wavelet ridge extraction from interference sensing mechanism. The incipient slip reaction time is within 11 ms, and the relative error of time is less than 1.10%, which produces a displacement is less than 0.06 mm. Simultaneous static and dynamic measurements in the millimeter range meet the multi-reference needs of slip sensing points, and we believe that this sensing method has great potential in the field of bionics.