离子聚合物摩擦触觉感知理论及结构优化研究

Artificial skin, which can imitate human tactile sensation, has significant value in the frontier application fields such as machine sensation, medical & health and virtual reality etc.. At present, those reported artificial skins mainly provide pressure tactile, but cannot sense frictional force truly, which are still far from the precise and perfect human tactile sensation. A new functional material of ionic polymer possesses the ability of friction sensation. However, there is rare theory and performance research on the frictional sensation of ionic polymer. Therefore, this project will first disclose the sensing mechanism of ionic polymer under friction based on the micro feature of nano-channel and orientation proposed by the applicant, through comparative experiments of electrical response under different shear stimuli. Then employing continuum micromechanical modeling method and the representative volume element with orientated nano-channels as a bridge, it will clarify the relationship between the macro friction stimulus and the micro eigen-stresses in liquid phase, and set up a theoretical model of the electrical response under friction. Finally, it will elucidate the relationship between structural feature and sensing stimulus type and how sensing structure influences electrical response based on numerical analysis of theoretical model. Furthermore, it will design and optimize selective sensing structures of pressure and friction respectively. This project will provide a general design theory and method for the frictional sensing structure of ionic polymer, and promote its widespread application in artificial skin and related engineering fields.

人工皮肤模拟人类触觉，在机器感知、医疗健康和虚拟现实等前沿领域具有重要应用价值。目前人工皮肤主要提供压力触觉，不能准确地感知摩擦力，距离人类精密而完善的触觉功能尚存在较大差距。新型离子聚合物材料具有摩擦感知能力，但当前对其摩擦感知理论及性能的研究却几乎是空白。为此本项目首先通过不同形式激励电响应的对比实验，在申请人提出的离子聚合物微观纳米孔道取向性特征基础上揭示摩擦作用下离子聚合物的感知机理；然后采用连续介质细观力学模型方法，以具有取向性纳米孔道的代表体积单元为桥梁明确宏观摩擦激励与微观液相本征应力的作用关系，构建摩擦电响应理论模型；最后通过对理论模型的数值分析，阐明结构特征影响离子聚合物感知的激励类型与电响应性能的规律，据此优化设计分别对压力和摩擦力敏感的选择性感知结构。本项目研究成果将为离子聚合物的摩擦触觉感知结构提供设计理论和方法，促进其在人工皮肤及其相关工程领域的广泛应用。

人工皮肤模拟人类触觉，在机器感知、医疗健康和虚拟现实等前沿领域具有重要应用价值。目前人工皮肤主要提供压力触觉，不能准确地感知摩擦力，距离人类精密而完善的触觉功能尚存在较大差距。新型离子聚合物材料具有摩擦感知能力，但当前对其摩擦感知理论及性能的研究却几乎是空白。为此本项目首先通过不同形式激励电响应的对比实验，在申请人提出的离子聚合物微观纳米孔道取向性特征基础上揭示摩擦作用下离子聚合物的感知机理；然后采用连续介质细观力学模型方法构建摩擦电响应理论模型；最后通过阐明结构特征影响离子聚合物感知的激励类型与电响应性能的规律，据此优化设计分别对压力和摩擦力敏感的选择性感知结构。通过三年的研究主要完成了压力感知单元的新型结构（梯形结构、微金字塔表面结构、单侧电极结构和多孔结构）等不同形式的压力传感器与阵列研究，工作模式上探讨了电压、电流和压阻、电容式传感模式、机理与特性的研究；在剪切传感器方面，主要以平面膜结构材料完成了剪切传感器的制造、结构尺寸影响剪切感知性能规律、机理分析等相关的研究。建立了离子聚合物材料的连续介质细观力学模型；最后，设计了集成压力传感器和剪切传感器的摩擦触觉感知结构，验证了其对不同粗糙表面的区分能力。本项目研究成果将为离子聚合物的摩擦触觉感知结构提供设计理论和方法，促进其在人工皮肤及其相关工程领域的广泛应用。