[1] [1] MASUDA R, HASEGAWA K, OSAKO K. Slip sensor of industrial robot and its application［J］. Electrical Engineering in Japan, 1976, 96(5): 129136.

[2] [2] PETCHARTEE S, MONKMAN G. Slip prediction through tactile sensing［J］. Sensor and Transducers Journal, 2008, 90(4): 310324.

[3] [3] DAMAIN D D, MARTINEZ H, DERMITZAKIS K, et al. Artificial ridged skin for slippage speed detection in prosthetic hand applications［C］. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010: 904909.

[4] [4] NOBUTOMO M, HIROFUMI N, EIJI H, et al. Grasping force control for a robotic hand by slip detection using developed micro laser Doppler velocimeter［J］. Sensors, 2018, 18(2): 326342.

[5] [5] KANNO H, NAKAMOTO H, KOBAYASHI F, et al. Slip detection using robot fingertip with 6axis force/torque sensor［C］. Robotic Intelligence in Informationally Structured Space, IEEE, 2013: 16.

[6] [6] ZHANG Ting. Research on fingertip threedimensional force tactile sensor and dynamic grasp for anthropomorphic prosthetic hand［D］. Harbin: Harbin Institute of Technology, 2014.

[7] [7] LI Hongqiang, YANG Haijiang, LI Enbang, et al. Wearable sensors in intelligent clothing for measuring human body temperature based on optical fiber Bragg grating ［J］. Optics Express, 2012, 20(11): 1174011752.

[8] [8] FENG Yan, ZHANG Jin, ZHANG Zhen, et al. Fiber Bragg grating weighing unit with adjustable sensitivity ［J］. Acta Photonica Sinica, 2017, 46(10): 1006001.

[9] [9] LI Hongqiang, MA Xiangdong. CUI Beibei, et al. Supplement 1: Chipscale demonstration of hybrid III–V/silicon photonic integration for an FBG interrogator［J］. Optica, 2017, 4(7): 692700.

[10] [10] QIAN Muyun, YU Youlong, REN Naikui, et al. Sliding sensor using fiber Bragg grating for mechanical fingers［J］. Optics Express, 2018, 26(1)：254264.

[11] [11] FENG Jianhang, JIANG Qi. Slip and roughness detection of robotic fingertip based on FBG［J］.Sensors and Actuators A: Physical, 2019, 287: 143149.

[12] [12] LIAO Yanbiao, LI Min. Optical fiber sensing techniques and applications［M］. Beijing: Tsinghua University Press, 2008.

[13] [13] HETCHT J. Understanding fiber optics［M］. JIA Dongfang, YU Zhenhong, WANG Zhaoying, transl. Beijing: Post & Telecom Press, 2004.

[14] [14] PENG Jiangde. Fundamentals of optoelectronic technology［M］. Beijing: Tsinghua University Press, 1998.

[15] [15] ZHOU Guangdong, LI Hongnan, REN Liang, et al. Study on influencing parameters of strain transfer of optic fiber bragg grating sensors［J］. Engineering Mechanics, 2007, 24(6)：169173.

[16] [16] LIU Xiaojun, DILLON L, JAMES F L, et al. Analysis of mechanical properties of 3D printing PLA specimens reinforced by carbon fiber［J］. Plastics, 2017, 46(3)：4750.