A Rigid-flexible Coupled Bionic Robotic Finger with Perception Decoupling and Slip Detection Capabilities
Yuyaocen Xiang, Baijin Mao, Yedong Huang, Qiangjing Yuan, Juntian Qu
Abstract
Human fingertips are densely distributed with sensory nerve endings, allowing them to perceive various physical characteristics, including pressure, roughness, etc. In this work, we develop a rigid-flexible coupled bionic robotic finger with perception decoupling and slip detection capabilities. Particularly, slip perception is important in grasping operations. Timely prediction of slippage and adjusting gripping force can improve gripping stability. Fiber Bragg gratings (FBGs) are embedded within both the rigid skeleton and flexible shell of the bionic fingertip. The fibers within the flexible shell are capable of sensing slight pressure, while the optical fibers embedded in the rigid skeleton can measure temperature changes. Firstly, this paper introduces the principles of distributed fiber optic sensors and the morphological design of the bionic fingertip. Then, the fabrication process of the bionic fingertip is described. Finally, we verify the multimodal sensory capabilities of the bionic fingertip through a series of experiments. The results demonstrate that the bionic finger can successfully sense whether the slip has occurred during grasping process. In summary, this rigid-flexible bionic finger is expected to play a significant role in dexterous manipulation, fruit picking and so on.
BibTeX
@inproceedings{iros2025_arigidflexibleco,
title = {A Rigid-flexible Coupled Bionic Robotic Finger with Perception Decoupling and Slip Detection Capabilities},
author = {Yuyaocen Xiang and Baijin Mao and Yedong Huang and Qiangjing Yuan and Juntian Qu},
booktitle = {IROS 2025},
year = {2025}
}