- Research Article
- 10.1109/jsen.2025.3649929
All-Polymer Arc-Shaped 3-D FBG Array Bionic Tactile Sensor and Its Application in Multidirectional Robotic Finger Force Identification
- Feb 15, 2026
- IEEE Sensors Journal
- Yulong Wang + 5 more +5
A fully polymer-based flexible arc-shaped three-dimensional (3D) fiber Bragg grating (FBG) array bionic tactile sensor is presented, in which both the FBG array and the encapsulation layer are made of polymers, and its application in multidirectional force identification of mechanical finger is verified. This innovative design utilizes the unique flexibility, biocompatibility, and mechanical properties of polymers to achieve excellent integration and performance consistency. The FBG array, with three FBGs inscribed in a single-mode polymer fiber using femtosecond laser micromachining, featuring progressively increasing lengths to compensate for the reflectivity degradation typically observed in conventional FBGs. The 3D arc-shaped arrangement of the FBG array endows the sensor with the ability to achieve 3D force perception, including normal stress, left shear stress, and right shear stress. By accurately measuring the wavelength shifts of the FBGs under different force stimuli, the sensor can accurately distinguish multi-directional forces. Experimental results show that the sensor has high force sensitivities to the left shear force, normal force, and right shear force with sensitivities of 4.973nm/N, 4.363nm/N, and 4.746nm/N, and measurement resolutions of 0.02N, 0.023N, and 0.021N, respectively, within a verified linear working range of 0 N to 0.8 N. Its sensitivity is as high as 17 times that of the traditional quartz optical fiber FBG sensor. our sensor can accurately measure multi-dimensional forces with very good sensitivity and significantly reduce the crosstalk caused by humidity, demonstrating very good performance. Its all-polymer design exhibits high flexibility and environmental robustness—completely eliminating crosstalk caused by humidity changes. It is expected to have potential applications in advanced robotics and intelligent tactile sensing systems.
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