Fig. 1. Structural diagram of a fiber Bragg grating-based human-like flexible robotic finger

Fig. 2. Constraint and force analysis of the phalanx sensing unit

Fig. 3. Simulation diagram of FBG deformation in the phalanx sensing unit

Fig. 4. Optical transmission characteristics of FBG

Fig. 5. Differential measurement mechanism of strain and temperature for FBG

Fig. 6. Illustrative diagram of multi-information tactile sensing feature information for a robotic hand

Fig. 7. Experimental setup of force tactile sensing

Fig. 8. Central wavelength shift of different positions in the force tactile experiment

Fig. 9. Experimental setup of temperature sensing

Fig. 10. Central wavelength shift of an FBG with temperature variation

Fig. 11. The contact force test results under different ambient temperatures

Fig. 12. Confusion matrix