Fig. 3: Microforce sensing experiments.
From: A tactile gripper on an optical fiber for perception and actuation
a Schematic diagram of the homemade microforce sensing system. The inset is the microscopic image of the contact region. b The evolution of the interference spectra of WS-1. c Dependence of wavelength shift on compression load, and the microforce sensitivity of WS-1 is fitted. d The evolution of the interference spectra of WS-2. e Dependence of wavelength shift on compression load for WS-2. f The evolution of the interference spectra of WS-3. g Dependence of wavelength shift on compression load for WS-3. The insets of c, e, and g are microscopic images of relative wave spring. Source data are provided as a Source Data file.
