Robot grasping and manipulating objects rely on sensors for force magnitude and spatial detection entirely. The pressure sensor is one of the most basic sensors. Most of the existing pressure sensors are composed of rigid materials, relying on resistance, piezoelectricity, and capacitance principles. The sensors are sensitive to electromagnetic fields, which limits their applications largely. Simultaneously, the resolution of pressure sensors plays an essential role in precise measurements. Hence, we designed a flexible optical pressure sensor with high spatial resolution using flexible silicone as substrate, optical fibers for transmitting light, and a camera as the receiver of images. This optical sensor is not affected by electromagnetic fields, while the flexible materials achieve soft properties of the sensor. Deep learning can decipher pictures. As a result, the better Root Mean Square Error (RMSE) for localization is about 0.1 mm order of magnitude, and the normal force (Fz) is around 0.67 N. This work has contributed to sensors for flexible electronics and robotics.
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