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本文描述了一种基于全内反射（ＴＩＲ）原理，用透明橡胶材料作为波导板的柔性触觉传感器。该传感器除具有一般刚性波导板触觉传感器的高分辨力等特点外，还具有柔性好，力灵敏阈值低，不怕碰撞等特点，该传感器特别适合装在智能机器人手爪上，为机器人系统高效率地获取物体形状、位置和姿态信息，实现智能抓握物体，操作物体等功能提供了有效的手段。
This paper describes a flexible tactile sensor based on the principle of total internal reflection (TIR) using a transparent rubber material as a waveguide plate. The sensor has the characteristics of high resolution and the like of a general rigid waveguide tactile sensor, but also has the advantages of good flexibility, low sensitivity threshold and no fear of collision. The sensor is particularly suitable for being mounted on an intelligent robot gripper for high efficiency of the robot system To obtain the object shape, position and attitude information, to achieve intelligent grasping objects, operating objects and other functions provide an effective means.