Biomimetic optical touch material identification device based on triboelectric induction of electricity to light

Abstract

The present application relates to the technical field of optical tactile sensing and material identification device, and particularly relates to a bionic optical tactile material identification device based on triboelectricity induced electricity to light-emitting. The main body of the present application is a bionic optical tactile nerve unit, which is composed of three plastic optical fiber substrates. Two grooves are machined along the length direction of each plastic optical fiber substrate, and the front and rear grooves are filled with a light-emitting composite layer to form a front light-emitting area and a rear light-emitting area respectively. A friction layer is arranged above the front and rear light-emitting areas. An electrostatic dissipation area is arranged between the front and rear light-emitting areas. A reflective layer is arranged at the front end of the plastic optical fiber substrate. The technical scheme of the present application solves the problems in the prior art, such as complex wiring, susceptibility to electromagnetic interference, large sensing structure volume, or strong dependence on external power supply.

Description

Technical Field

[0001] This invention relates to the field of optical tactile sensing and material recognition devices, and in particular to a biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence. Background Technology

[0002] Material recognition is a crucial requirement for robot end-effector sensing, human-robot interaction, intelligent manufacturing, and tactile detection in complex environments. Existing material recognition solutions mostly rely on electrical sensing signals or visual image data processing, which typically suffers from problems such as complex wiring, susceptibility to electromagnetic interference, large sensing structure volume, or strong dependence on external power supply.

[0003] Optical tactile sensors have the advantages of visual output, strong anti-electromagnetic interference capability and easy long-distance transmission. However, most existing optical tactile solutions are focused on pressure, strain or temperature detection. They lack direct characterization methods for the intrinsic triboelectric differences of different materials during sliding contact, making it difficult to realize device applications that are simple in structure, do not require external power supply and can distinguish materials.

[0004] Triboelectric-induced electroluminescence (TEE) technology can directly excite the luminescent composite layer to emit light by utilizing the interfacial charges and time-varying local electric fields generated when different materials come into contact and slide relative to each other, thereby converting mechanical stimulation into optical signals. If this type of luminescent unit is combined with plastic optical fibers, a triboelectric layer distribution structure, and a multi-channel configuration, it is expected to construct a compact biomimetic optical tactile device suitable for material recognition.

[0005] In view of the problems existing in the above-mentioned existing technologies, it is necessary to study and design a new biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence, so as to overcome the problems existing in the existing technologies. Summary of the Invention

[0006] To address the technical problems of complex wiring, susceptibility to electromagnetic interference, large sensing structure volume, or strong dependence on external power supply in the existing technologies, a biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence is provided.

[0007] The technical means employed in this invention are as follows:

[0008] The main body of a biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence is a biomimetic optical tactile nerve unit, which is composed of three plastic optical fiber substrates. Furthermore, two grooves are machined along the length of each plastic optical fiber substrate, and the front and rear light-emitting areas are formed by filling the two grooves with light-emitting composite layers. Furthermore, a friction layer is provided above the front light-emitting area and the rear light-emitting area; Furthermore, an electrostatic dissipation region is provided between the front light-emitting region and the rear light-emitting region; Furthermore, a reflective layer is provided at the front end of the plastic optical fiber substrate.

[0009] Furthermore, three plastic optical fiber substrates are arranged side by side to form three channels, two of which are material sensing channels and the other is a reference channel; Furthermore, the three plastic optical fiber substrates are arranged in parallel, so that the material under test can generate multi-channel optical responses synchronously when the three optical fibers slide along the plastic optical fiber substrates.

[0010] Furthermore, the thickness of the light-emitting composite layer in the front light-emitting region is preferably 90±5 μm; Furthermore, the materials of the luminescent composite layer include: ZnS:Cu particles, BaTiO3 particles, PANI, and epoxy resin; Furthermore, BaTiO3 and PANI are used to improve the equivalent dielectric constant and carrier transport capability of the luminescent composite layer; Furthermore, the PANI doping amount is preferably 0.5 ± 0.1%.

[0011] Furthermore, the thickness of the light-emitting composite layer in the rear light-emitting region is preferably 90±5 μm; Furthermore, the materials of the luminescent composite layer include: ZnS:Cu particles, BaTiO3 particles, PANI, CaAlSiN3:Eu2+ particles and epoxy resin; Furthermore, CaAlSiN3:Eu2+ is used to convert the green emission of ZnS:Cu into orange-red band emission; Furthermore, the doping ratio of CaAlSiN3:Eu2+ is preferably 35±2%.

[0012] Furthermore, the electrostatic dissipation region is formed using an ESD thin film to dissipate the residual charge generated after the front light-emitting region comes into contact, thereby reducing crosstalk between the front and rear light-emitting regions.

[0013] Furthermore, the friction layer is made of polymer materials with different triboelectric properties, which are distributed to output a distinguishable multi-channel dual-band optical signal when the test material and the friction layer slide relative to each other. Furthermore, the polymer material is one of FEP, PU, ​​PI and PVC, forming a PU friction layer, a PU friction layer, a PI friction layer and a PVC friction layer, and distributed above the corresponding light-emitting area to form a contact interface at different triboelectric sequence positions; Furthermore, the front and rear light-emitting regions on each plastic optical fiber substrate are made of two different polymer materials, and the front and rear light-emitting regions of the two material sensing channels are made of four different polymer materials. Furthermore, the three plastic optical fibers are numbered 1, 2, and 3 in sequence. The friction layer of the first and third plastic optical fibers uses the same polymer material. The third fiber is a reference fiber. It can also be considered that the configuration of the plastic optical fibers on both sides is the same, with one of them being a reference fiber.

[0014] Furthermore, the reflective layer is formed by silver plating at the front end of the plastic optical fiber substrate using a coating machine. This reflective layer is used to reflect the back-propagating light to the detection end, thereby improving the light collection capability of the end face.

[0015] Furthermore, the groove is a beveled groove structure; Furthermore, the groove depth h1 of the front light-emitting area is 0.2±0.05 mm, and the groove inclination angle is -15°±3°; Furthermore, the groove depth h2 of the rear light-emitting area is 0.35±0.05 mm, and the groove inclination angle is -15°±3°; Furthermore, the distance d between the two grooves is 2.0 ± 0.3 cm.

[0016] Working principle of the invention: The three-channel bionic optical tactile nerve system of the present invention includes three bionic optical tactile nerve units. Each bionic optical tactile nerve unit uses a plastic optical fiber substrate 1 as a carrier, and a front light-emitting area 2, an electrostatic dissipation area 3, and a rear light-emitting area 4 are sequentially arranged on the plastic optical fiber substrate 1.

[0017] A composite light-emitting layer composed of ZnS:Cu, PANI, BaTiO3, and epoxy resin is disposed in the front light-emitting region 2. CaAlSiN3:Eu²⁺ is further introduced into the rear light-emitting region 4. + Fluorescent materials are used to enable the ZnS:Cu to emit orange-red light on top of its green light emission, thus forming a dual-band optical response.

[0018] A friction layer 5 is disposed on the surface of the front light-emitting region 2 and the rear light-emitting region 4. The friction layer 5 includes one or more of the following: FEP friction layer 7, PU friction layer 8, PI friction layer 9, and PVC friction layer 10. Because the above friction layer materials are located at different positions in the triboelectric sequence, when the test material comes into contact with and slides against the friction layer 5, triboelectric charges are generated at the interface, forming a local electric field that changes with the sliding process. This local electric field excites the light-emitting layer to generate an optical signal, which is transmitted through the plastic optical fiber substrate 1 to the end face for output.

[0019] The reflective layer 6 is used to improve the collection and transmission efficiency of optical signals. The electrostatic dissipation region 3 is disposed between the front light-emitting region 2 and the rear light-emitting region 4 to dissipate residual charges, reduce charge interference between adjacent light-emitting regions, and enable the front light-emitting region 2 and the rear light-emitting region 4 to reflect the local contact sliding state at their respective positions.

[0020] The working process of this invention: In use, the material under test is slid along a predetermined direction on the surface of the bionic optical tactile nerve unit. As the material under test passes sequentially through the front light-emitting area 2, the electrostatic dissipation area 3, and the rear light-emitting area 4, the material under test comes into contact with and rubs against the friction layer 5 at the corresponding positions.

[0021] Because the triboelectric properties between the material under test and the FEP friction layer 7, PU friction layer 8, PI friction layer 9 or PVC friction layer 10 are different, the amount of triboelectric charge and the local electric field intensity generated in each luminescent region are different, thus obtaining optical responses with different intensities and different combinations of wavelengths.

[0022] The front emitting region 2 primarily outputs a green light signal, while the rear emitting region 4 outputs a dual-band light signal containing both green and orange-red components. The light signals generated by each channel are transmitted to the end face through the plastic optical fiber substrate 1. After being acquired by the image acquisition device, the optical characteristics of different channels, different emitting regions, and different bands can be extracted to identify and distinguish different test materials.

[0023] Compared with the prior art, the present invention has the following advantages: 1. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence provided by the present invention directly outputs a visual light signal through the triboelectric induction of electroluminescence mechanism, without the need for an external power supply, and can realize the direct conversion of mechanical stimulation into light signal; 2. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence provided by the present invention adopts a plastic optical fiber integrated dual-light-emitting area structure, which can form a dual-band optical response on a single biomimetic optical tactile nerve unit. The structure is compact and easy to miniaturize and integrate. 3. The biomimetic optical tactile material identification device based on triboelectric induction of electroluminescence provided by the present invention, by configuring different triboelectric layer materials on multiple channels, enables different test materials to form a distinguishable multi-channel optical output when sliding in contact, which is suitable for material identification; 4. The biomimetic optical tactile material recognition device based on triboelectric induction to luminescence provided by the present invention has the advantages of strong anti-electromagnetic interference capability, high visualization degree, stable response and good repeatability, and is suitable for robot end-effector sensing and material detection in complex environments.

[0024] In summary, the technical solution of this invention solves the problems of complex wiring, susceptibility to electromagnetic interference, large sensing structure volume, or strong dependence on external power supply in the prior art.

[0025] Based on the above reasons, this invention can be widely applied in the fields of material identification and optical tactile sensing. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the plastic optical fiber substrate after grooving according to the present invention; Figure 3 A schematic diagram of the plastic optical fiber matrix structure for filling the front and rear light-emitting regions of the present invention; Figure 4 This is a schematic diagram of the structure of a single biomimetic optical tactile nerve unit of the present invention; Figure 5 This is a schematic diagram illustrating the optimization of groove parameters for the biomimetic optical tactile nerve unit of the present invention; Figure 6 This is a schematic diagram of the output optical signal when different materials slide in contact.

[0028] In the figure: 1. Plastic optical fiber substrate; 2. Front light-emitting area; 3. Electrostatic dissipation area; 4. Rear light-emitting area; 5. Friction layer; 6. Reflective layer; 7. FEP friction layer; 8. PU friction layer; 9. PI friction layer; 10. PVC friction layer. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0034] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0036] Example 1 like Figure 1-4 As shown, this invention provides a biomimetic optical tactile material recognition device based on triboelectric induced electroluminescence, comprising three parallel biomimetic optical tactile neural units. The three biomimetic optical tactile neural units respectively form two material sensing channels and one reference channel.

[0037] Each of the biomimetic optical tactile nerve units comprises a plastic optical fiber substrate 1, with a front light-emitting region 2, an electrostatic dissipation region 3, and a rear light-emitting region 4 sequentially arranged along the length of the plastic optical fiber substrate 1. Both the front light-emitting region 2 and the rear light-emitting region 4 are formed in grooves on the surface of the plastic optical fiber substrate 1, and an encapsulation layer covers the outside of the grooves. A friction layer 5 covers the front light-emitting region 2 and the rear light-emitting region 4, and a reflective layer 6 is disposed at one end of the plastic optical fiber substrate 1.

[0038] The front luminescent region 2 employs a ZBPE luminescent composite layer, whose components include ZnS:Cu particles, BaTiO3 particles, PANI, and epoxy resin. The rear luminescent region 4 employs a ZBPCE luminescent composite layer, whose components include ZnS:Cu particles, BaTiO3 particles, PANI, CaAlSiN3:Eu2+ particles, and epoxy resin. The front luminescent region 2 primarily produces green light emission, while the rear luminescent region 4 further generates orange-red band emission on top of the green emission, thus enabling a single biomimetic optical tactile nerve unit to achieve dual-band output.

[0039] The electrostatic dissipation region 3 is formed using an ESD thin film and is located between the front light-emitting region 2 and the rear light-emitting region 4. It is used to dissipate the residual charge during the contact process of the previous light-emitting region, reduce the electric field crosstalk between the front and rear light-emitting regions, and make the response of the rear light-emitting region 4 mainly come from the new local contact process.

[0040] In this embodiment, the front light-emitting region 2 and the rear light-emitting region 4 on the plastic optical fiber substrate 1 adopt a triangular groove structure. Preferably, the groove depth h1 of the front light-emitting region 2 is 0.2 mm, the groove depth h2 of the rear light-emitting region 4 is 0.35 mm, the distance d between the two grooves is 2.0 cm, and the groove inclination angle is -15°. The above parameters can take into account the light output uniformity of the front and rear light-emitting regions, the residual charge dissipation space, and the overall structural stability.

[0041] In this embodiment, the friction layer 5 is a general term, specifically including: FEP friction layer 7, PU friction layer 8, PI friction layer 9, and PVC friction layer 10. Each bionic optical tactile nerve unit has two different friction layers, and the three bionic optical tactile nerve units are arranged in parallel with different friction layer distributions. Preferably, the first and third bionic optical tactile nerve units have a PI friction layer 9 covering the front luminous area 2 and an FEP friction layer 7 covering the rear luminous area 4; the second bionic optical tactile nerve unit has a PVC friction layer 10 covering the front luminous area 2 and a PU friction layer 8 covering the rear luminous area 4. By distributing materials with different triboelectric sequence positions across multiple channels, different tested materials can produce distinctive multi-channel dual-band emission patterns when sliding along the device surface.

[0042] The reflective layer 6 is preferably a silver reflective layer, disposed at the end of the plastic optical fiber substrate 1, to reflect light propagating away from the detection end back to the end face, thereby improving the light collection capability of the end face and enhancing the visual output intensity of the device. The encapsulation layer is preferably made of silicone material to fix and protect the light-emitting composite layer.

[0043] When the test material slides along the surface of the friction layer 5, due to the different positions of the test material and the friction layer 5 in the triboelectric sequence, different degrees of charge transfer occur at the interface, forming a time-varying local electric field. This local electric field directly excites the luminescent composite layer in the front luminescent region 2 and the rear luminescent region 4 to emit light, causing each channel end face to output different light signals. The operator can distinguish the test material based on the combination of intensity and color of the multi-channel light signals.

[0044] The fabrication process of the device of the present invention includes the following steps: First, two grooves are processed on the surface of the plastic optical fiber substrate 1, and the processed plastic optical fiber substrate 1 is cleaned and dried; second, the ZBPE precursor liquid required for the front light-emitting region 2 and the ZBPCE precursor liquid required for the rear light-emitting region 4 are prepared respectively and injected into the corresponding grooves; then, an ESD film is set between the front and rear light-emitting regions to form an electrostatic dissipation region 3, and a friction layer 5 is covered on the surface of the light-emitting region; finally, a silver reflective layer 6 is set at the end of the plastic optical fiber substrate 1 to complete the fabrication of a single biomimetic optical tactile neural unit, and then multiple biomimetic optical tactile neural units are installed in parallel on the base to obtain the biomimetic optical tactile material recognition device.

[0045] Example 2 Based on Example 1, the present invention also provides a biomimetic optical tactile material recognition device based on triboelectric electroluminescence. To further improve the luminescence performance and material recognition capability of the device of the present invention, the groove structure parameters, the internal composition of the luminescent region, and the material of the triboelectric layer 5 can be optimized.

[0046] BaTiO3 with a high dielectric constant can enhance the local electric field, while PANI can improve carrier transport capability. The combination of the two is beneficial to improving the luminescence intensity of ZnS:Cu. Preferably, the PANI doping amount in the front luminescent region 2 is controlled within the range of 0.5±0.1%, and the thickness of the luminescent composite layer is preferably controlled within the range of 90±5 μm.

[0047] For the post-luminescent region 4, adjusting the doping ratio of CaAlSiN3:Eu2+ is beneficial to improve the distinction between orange and red bands while ensuring the overall luminescence intensity. Under preferred conditions, the doping ratio of CaAlSiN3:Eu2+ in the post-luminescent region 4 is 35±2%.

[0048] Furthermore, by optimizing the groove depth, groove spacing, and groove tilt angle, the light emission uniformity and local electric field distribution of the front and rear light-emitting areas can be further improved; by selecting triboelectric layer materials with different triboelectric sequence positions, the multi-channel response differences corresponding to different test materials can be enhanced.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence, characterized in that: The main body of the biomimetic optical tactile material recognition device based on triboelectric induction to luminescence is a biomimetic optical tactile nerve unit, which is composed of three plastic optical fiber substrates (1). Two grooves are processed along the length of each plastic optical fiber substrate (1), and the front and rear light-emitting areas (2) and (4) are formed respectively after the light-emitting composite layer is filled in the front and rear grooves. A friction layer (5) is provided above the front light-emitting area (2) and the rear light-emitting area (4); An electrostatic dissipation region (3) is provided between the front light-emitting region (2) and the rear light-emitting region (4); The front end of the plastic optical fiber substrate (1) is provided with a reflective layer (6).

2. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The three plastic optical fiber substrates (1) are arranged side by side to form three channels, two of which are material sensing channels and the other is a reference channel; The three plastic optical fiber substrates (1) are arranged in parallel so that the material under test can generate multi-channel optical responses synchronously when the three plastic optical fiber substrates (1) slide along them.

3. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The thickness of the light-emitting composite layer in the front light-emitting region (2) is preferably 90±5 μm; The materials of the light-emitting composite layer include: ZnS:Cu particles, BaTiO3 particles, PANI and epoxy resin; The BaTiO3 and PANI are used to improve the equivalent dielectric constant and carrier transport capability of the luminescent composite layer; The preferred PANI doping level is 0.5 ± 0.1%.

4. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The thickness of the light-emitting composite layer in the rear light-emitting region (4) is preferably 90±5 μm; The materials of the light-emitting composite layer include: ZnS:Cu particles, BaTiO3 particles, PANI, CaAlSiN3:Eu2+ particles and epoxy resin; The CaAlSiN3:Eu2+ is used to convert the green emission of ZnS:Cu into orange-red band emission; The preferred doping ratio of CaAlSiN3:Eu2+ is 35±2%.

5. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The electrostatic dissipation region (3) is formed using an ESD thin film to dissipate the residual charge generated after the front light-emitting region (2) comes into contact, thereby reducing crosstalk between the front light-emitting region (2) and the rear light-emitting region (4).

6. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The friction layer (5) is made of polymer materials with different triboelectric properties and is distributed to output a distinguishable multi-channel dual-band optical signal when the test material and the friction layer (5) slide relative to each other. The polymer material is one of FEP, PU, ​​PI and PVC, forming a PU friction layer (7), a PU friction layer (8), a PI friction layer (9) and a PVC friction layer (10), and distributed above the corresponding light-emitting area to form a contact interface at different triboelectric sequence positions; The front light-emitting area (2) and the rear light-emitting area (4) on each plastic optical fiber substrate (1) are made of two different polymer materials, and the front light-emitting area (2) and the rear light-emitting area (4) of the two material sensing channels are made of four different polymer materials. The three plastic optical fibers are numbered 1, 2, and 3 in sequence. The friction layer of the first and third plastic optical fibers uses the same polymer material. The third fiber is the reference fiber. Alternatively, it can be considered that the configuration of the plastic optical fibers on both sides is the same, with one of them being the reference fiber.

7. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The reflective layer (6) is formed by silver plating at the front end of the plastic optical fiber substrate (1) using a coating machine. It is used to reflect the back-propagating light to the detection end to improve the light collection capability of the end face.

8. The biomimetic optical tactile material recognition device based on triboelectric induction of electroluminescence according to claim 1, characterized in that: The groove is a beveled groove structure; The groove depth h1 of the front light-emitting area (2) is 0.2±0.05 mm, and the groove inclination angle is -15°±3°; The groove depth h2 of the rear light-emitting area (4) is 0.35±0.05 mm, and the groove inclination angle is -15°±3°; The distance d between the two grooves is 2.0 ± 0.3 cm.

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