Composite materials are frequently exposed to external factors during their operational service, resulting in internal structural damage which subsequently impacts their structural performance. This paper employs ferromagnetic materials for their sensitivity to magnetic field strength. By detecting variations in the magnetic field within the embedded ferromagnetic microwires of composite materials, the aim is to indirectly assess the health status of the composite materials. Firstly, a theoretical numerical model for magnetic field intensity at the crack site was established. Subsequently, a finite element model was employed to analyze the variations in the magnetic characteristics of ferromagnetic microwires at the crack site. Under different parameter conditions, the patterns of magnetic signals at the crack site were determined. The results indicate that with an increase in the angle between the external magnetic field and the crack, the fitted curve of the magnetic signal shows a linear increase. The distance between the peak and valley of the radial magnetic signal in the axial direction decreases, and the axial magnetic signal transitions from double-peak to single-peak. With the increase in crack depth, the fitted curve of the magnetic signal shows a linear increase, and the magnetic signal at the crack tip also exhibits a linear increase. An increase in crack width leads to a non-linear decrease in the fitted curve of the magnetic signal, and after reaching a certain width, the magnetic signal stabilizes. For two identical cracks at different distances, the magnetic signal exhibits a transition from a complete pattern to two complete patterns. With the increase in the external magnetic field, the magnetic signal shows a completely regular linear increase. By analyzing and calculating the variations in magnetic signals, the patterns of magnetic characteristics under the damaged state of ferromagnetic microwires were obtained. This serves as a basis for assessing whether they can continue in service and for evaluating the overall health status of composite materials.

The human hand’s exceptional dexterity and compliance, derived from its rigid-soft coupling structure and tendon-driven interphalangeal coordination, inspire robotic grippers capable of versatile grasping and force adaptation. Traditional rigid manipulators lack compliance for delicate tasks, while soft robots often suffer from instability and low load capacity. To bridge this gap, we propose a biomimetic multi-joint composite finger integrating a 3D-printed rigid phalanges (46–51 mm) with dual fabric-reinforced pneumatic bladders, mimicking human finger biomechanics. This hybrid design combines hinge-jointed rigidity and anisotropic fabric constraints, enabling two rotational degrees of freedom with higher radial stiffness, achieving 2.18× higher critical burst pressure (240 kPa) than non-reinforced bladders, while preserving axial compliance. Experimental validation demonstrates a 4.77 N maximum fingertip force at 200 kPa and rapid recovery (< 2s) post-impact. The composite finger exhibits human-like gestures (enveloping, pinching, flipping) and adapts to irregular/fragile objects (e.g., eggs, screws) through coordinated bladder actuation. Assembled into a modular gripper, it sustains 1 kg payloads and executes thin-object flipping via proximal-distal joint synergy. This rigid-soft coupling design bridges compliance and robustness, offering high environmental adaptability for applications in industrial automation, human–robot interaction, and delicate manipulation.

Taking the Co_68.7Fe₄Ni₁B₁₃Si₁₁Mo_2.3 glass-coated amorphous microwire as the research object, the mechanical properties of the amorphous wire were tested through biaxial tensile experiments, and the fracture deformation process of the amorphous wire was analyzed. Based on the experimental data, the finite element method was used The simulation software ABAQUS numerically simulates the tensile deformation of the amorphous wire, and the fracture relationship between the glass cladding layer and the core wire, and further reveals the tensile deformation fracture behavior of the amorphous wire was analyzed. The experimental results indicate that the fabricated microwires exhibit good tensile properties, and the maximum tensile breaking strength can reach 2918MPa; the fracture of the amorphous wire is a typical brittle fracture, and there is no obvious yield phenomenon. The tensile mechanics simulation results of the amorphous wire are consistent with the experimental results. The glass cladding layer breaks before the core wire, and the stress transfer effect in the amorphous wire is good. The model fracture is consistent with the fracture morphology of the amorphous wire. These results show that the amorphous wire exhibits good tensile properties and stress transmission capabilities, confirming the huge application potential of amorphous wire materials in sensor applications and functional composite materials.

Contact-force perception is a critical component of safe robotic grasping. With the rapid advances in embodied intelligence technology, humanoid robots have enhanced their multimodal perception capabilities. Conventional force sensors face limitations, such as complex spatial arrangements, installation challenges at multiple nodes, and potential interference with robotic flexibility. Consequently, these conventional sensors are unsuitable for biomimetic robot requirements in object perception, natural interaction, and agile movement. Therefore, this study proposes a sensorless external force detection method that integrates SuperPoint-Scale Invariant Feature Transform (SIFT) feature extraction with finite element analysis to address force perception challenges. A visual analysis method based on the SuperPoint-SIFT feature fusion algorithm was implemented to reconstruct a three-dimensional displacement field of the target object. Subsequently, the displacement field was mapped to the contact force distribution using finite element modeling. Experimental results demonstrate a mean force estimation error of 7.60% (isotropic) and 8.15% (anisotropic), with RMSE < 8%, validated by flexible pressure sensors. To enhance the model’s reliability, a dual-channel video comparison framework was developed. By analyzing the consistency of the deformation patterns and mechanical responses between the actual compression and finite element simulation video keyframes, the proposed approach provides a novel solution for real-time force perception in robotic interactions. The proposed solution is suitable for applications such as precision assembly and medical robotics, where sensorless force feedback is crucial.