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据《センサ-技术》1993,13(8):6报道:东京大学通过多根光纤的组合开发出触觉传感器。此传感器外形由橡胶材料做成,呈细管状,其中一端为封闭凸出的半球形,另一端开口,胶管内空心。凸出端管内塞有0.8mm直径的钢球,钢球内含七根排列成六边形的0.25mm直径光纤。七根光纤中,仅居中者发光,周围六根均接收经钢球反回的光。凸出端受压,胶管
According to the “Journalism - Technology” 1993,13 (8): 6 Report: University of Tokyo through the combination of multiple optical fibers to develop a tactile sensor. The sensor shape made of rubber material, was thin tube, one end of the closed convex hemispherical, the other end of the opening, hollow hose. The protruding end pipe is stuffed with a 0.8 mm diameter steel ball containing seven 0.25 mm diameter fibers arranged in a hexagonal shape. Among the seven optical fibers, only the center of the light emits light, and the six surrounding all receive the light returned by the steel ball. Protrusion pressure, hose