产品资料体系
资源按产品线、资料类型、语言、格式、版本和访问权限管理。当前产品目录由 FOS 机器人触觉 与 FOI 薄膜传感与数据采集 两条产品线组成。
FOS 机器人触觉
- FOS-P300-3DF：96 触觉点平面指尖触觉传感器
- FOS-P300S-6DF：28 触觉点曲面指尖触觉传感器
- FOS-P300P：53 触觉点手掌触觉传感器
- 产品规格书：中文 V0.5（2026-05-09）与英文 V0.5（2026-05-31）
- 配套资料：Sensor App、V0.3 通信协议、Demo 手册、示例程序和 STEP 机械文件
FOI 薄膜传感与数据采集
- 薄膜传感器按应用场景选型；已确认 FOIP1806S 对应产线
- 已确认 FOIP0603S-HT 对应 COP 与 FOP，FOIP1809S 对应 POL-Lami，FOIP1111S-HT-2 对应化成工序
- FOI V3.5 数据采集器：采样频率 >300 Hz、16 bit 采集分辨率，支持 Wi-Fi、以太网与 USB
- FOI 阵列式压力检测软件 V3.5：当前确认软件包为 3.5-0722，文件大小 33.75 MB
- 已确认传感器名牌：FOIP1806S、FOIP0603S-HT（COP/FOP）、FOIP1809S、FOIP1111S-HT-2
开发与集成资料
按产品查找通信协议、示例程序和机械文件，使用前核对产品型号与资料版本。
资源下载
资源中心展示当前可下载的产品文件。需要其他配套资料时，请联系技术支持。
Product Documentation System
Resources are managed by product line, document type, language, format, version and access level. The current catalog contains six formal product entries across FOS Robotic Touch and FOI Industrial Inspection.
FOS Robotic Touch
- FOS-P300-3DF: flat fingertip tactile sensing tactile sensors with 96 sensing points
- FOS-P300S-6DF: curved fingertip tactile sensing tactile sensors with 28 sensing points
- FOS-P300P: palm tactile sensing tactile sensors with 53 sensing points
- Product specifications: Chinese V0.5 (May 9, 2026) and English V0.5 (May 31, 2026)
- Supporting resources: Sensor App, V0.3 communication protocol, Demo Manual, sample programs and STEP mechanical files
FOI Industrial Inspection
- Thin film sensors are selected by application; FOIP1806S is confirmed for the Chuangyuan toner-cartridge line
- FOIP0603S-HT is confirmed for COP and FOP, FOIP1809S for POL-Lami, and FOIP1111S-HT-2 for formation
- FOI V3.5 Data Collector: sampling above 300 Hz, 16-bit acquisition, and Wi-Fi, Ethernet and USB communication
- FOI Array Pressure Inspection Software V3.5: the verified current package is build 3.5-0722, 33.75 MB
- Confirmed sensor nameplates: FOIP1806S, FOIP0603S-HT (COP/FOP), FOIP1809S and FOIP1111S-HT-2
- The smart-instrument folder also contains a printing stencil and installation drawing; the sensor model is still pending
Development and Integration Resources
tactile sensors, communication protocols, sample programs and mechanical files are controlled resources. Integrators should use the current version identified in the Resource Center. Previous versions are retained only for historical traceability.
Downloads
Find available product files in the Resource Center. Contact technical support for other materials.
看到第一帧See the first frame
先确认硬件和 Sensor App 能出热图，再按 V0.3 协议接入自己的上位机。完整帧格式以资源中心当前协议文件为准，这里只写已确认的公开参数。Confirm the hardware and Sensor App can show a heatmap first, then connect a custom host with the V0.3 protocol. Frame bytes follow the current protocol file in the Resource Center; this page only lists verified public parameters.
- FOS-P300-3DF 通过 UART 转 USB 接到电脑；FOS-P300S-6DF 经多通道 Hub 用 USB Type-C 连接；FOS-P300P 由板载采集单元经 USB Type-C 连接。Connect FOS-P300-3DF through a UART-to-USB adapter. Connect FOS-P300S-6DF through the multi-channel hub and USB Type-C. Connect FOS-P300P through the onboard acquisition unit and USB Type-C.
- 安装 Fulai Sensor App（Windows），打开压力热图、力—时间曲线。曲面套件最多同时显示 5 个通道。Install Fulai Sensor App for Windows and open the pressure heatmap and force-time curve. The curved kit can display up to five channels at once.
- 热图和力曲线正常后，再用开放协议把同一路数据接到自定义程序。协议版本为 V0.3。After the heatmap and force curve look correct, connect the same stream to a custom program. The protocol version is V0.3.
查看产品配套资料View product resources
触觉数据Tactile data
FOS 是三套独立阵列，不是一只整手套上的单一大矩阵。每套按自己的触觉点数输出压力分布；法向力在模组或板载采集端计算，剪切力由上位机根据分布估算。FOS uses three independent arrays, not one large glove matrix. Each kit outputs its own pressure map. Normal force is computed on the module or onboard collector; shear is estimated on the host from the distribution.
| 型号Model |
有效触觉点Valid points |
传感区域Sensing area |
输出频率Output rate |
接口Interface |
| FOS-P300-3DF |
96 |
9.5 × 16 mm |
100 Hz |
UART 921,600 |
| FOS-P300S-6DF |
28 |
正面、两侧与顶端Front, sides and tip |
100 Hz / 通道channel |
UART → Hub → USB-C，最多 5 通道UART → Hub → USB-C, up to 5 channels |
| FOS-P300P |
53 |
70 × 80 mm |
100 Hz |
USB Type-C |
一帧里能用到什么What each frame provides
| 内容Item |
已确认说明Verified note |
详细定义Full definition |
| 逐点压力 / 法向力Point pressure / normal force |
3DF：0.1–20 N；P：0.5–20 N。力值与接触面积、压头和安装有关。3DF: 0.1–20 N; P: 0.5–20 N. Values depend on contact area, indenter and mounting. |
规格书 V0.5Specification V0.5 |
| 压力分布热图Pressure heatmap |
按该型号有效点数排列，Sensor App 实时显示。Arranged by the kit’s valid points and shown live in Sensor App. |
V0.3 协议与 DemoV0.3 protocol and demo |
| 剪切力估算Shear estimate |
由上位机根据法向力分布估算方向或大小。标定范围与精度仍在持续表征。Estimated on the host from the normal-force map. Calibrated range and accuracy are still being characterized. |
最新确认文档Latest confirmed document |
| 接触位置Contact location |
手掌套件可输出接触位置；指尖套件用于抓取稳定性和接触区域识别。The palm kit outputs contact location. Fingertip kits support grasp stability and contact-area recognition. |
规格书与 DemoSpecification and demo |
点序、帧头、校验和无效点表示未在网页展开，避免与协议文件不一致。对接时按资源中心《FOS 标准产品通信协议》V0.3 解析。Point order, frame header, checksum and invalid-point encoding are not restated here, to avoid drifting from the protocol file. Parse frames with FOS Standard Product Communication Protocol V0.3 in the Resource Center.
通信协议与版本Protocol and version
接入自定义程序时，请使用随产品交付的通信协议和示例程序，并核对产品型号与版本。帧结构、点序、单位与校验方式以对应版本的协议文件为准。Use the protocol and examples supplied with your product, checking the model and version. Refer to that protocol for frame structure, point order, units and validation.
接入自定义上位机Connect a custom host
Sensor App 用于确认数据；自定义程序走同一物理链路。下面只示范打开串口，字节布局以 V0.3 为准。Use Sensor App to confirm the stream, then connect a custom program on the same link. The snippet only opens the serial port; byte layout follows V0.3.
import serial
port = serial.Serial("COM3", 921600, timeout=1)
raw = port.read(256)
# 帧头、长度、点序和校验见资源中心《FOS 标准产品通信协议》V0.3
print(len(raw), raw[:16])
- 3DF：电脑识别为串口后，波特率 921,600，输出 100 Hz。3DF: after the PC enumerates a serial port, use 921,600 baud and 100 Hz output.
- P300S：每只模组先接 Hub，再经 USB Type-C 到主机，最多 5 通道并行。P300S: each module goes to the hub first, then USB Type-C to the host, up to five parallel channels.
- P300P：USB Type-C 直连，Sensor App 显示热图、矢量场和力曲线。P300P: USB Type-C direct. Sensor App shows the heatmap, vector field and force curve.
FOI 采集与软件FOI acquisition and software
工业侧按场景选薄膜传感器，采集器和分析软件全场景共用。未确认型号不补矩阵规格。Industrial sensors are selected by scenario. The collector and software are shared. Matrix specifications are not invented for unconfirmed models.
| 组成Component |
已确认Confirmed |
| 薄膜传感器Thin-film sensor |
FOIP1806S / FOIP0603S-HT / FOIP1809S / FOIP1111S-HT-2 |
| 数据采集器 V3.5Data collector V3.5 |
>300 Hz · 16 bit · Wi-Fi / ETH / USB |
| 阵列式压力检测软件Array pressure software |
V3.5-0722 · 33.75 MB |
