Abstract:Aiming at the flexible tactile and sliding composite sensing problem of bionic skin, a twolayer distributed sensing unit based on fiber Bragg grating is proposed. Firstly, the sensing principle of fiber Bragg grating is studied and the temperature compensation principle based on reference grating is deduced. Then, polymer elastic material is used for the protective and sensitized encapsulation of the fiber Bragg grating sensing array. The doublelayer “cross” distributed sensing array unit is designed. The pressure sensitivity of the sensing array unit is studied and analyzed in simulation. Finally, an experiment system platform was established. The temperature, tactile and sliding sensing experiments on the flexible composite sensor were conducted. The results of simulation and experiment show that the flexible tactile and sliding sensor has good linearity and response speed. The temperature sensitivity of the sensor is 13 pm/℃, which is 131 times of that of the bare fiber Bragg grating. The positive pressure sensitivity is 8294 nm/MPa. The x positive shear force sensitivity and x negative shear force sensitivity are 0060 2 and 0063 6 nm/N, respectively. The sliding information of object can be obtained from the characteristic signal of sliding sensing. The sensor is expected to be surface mounted or embedded in the bionic hand to realize the perception of tactile and sliding information of the bionic hand, which has some application value.