基于有限元分析的指尖接触力感知模型研究

doi:10.3901/JME.2025.11.376

摘要/Abstract

摘要： 触觉是是人体与外部环境进行信息交互的重要方式之一，人们可以通过指尖皮肤内密集分布的对振动、伸张等行为作出响应的各种触觉感受器来感知并识别物体。在触觉感知过程中，人体皮肤的应力应变较难测量，因此建立手指的数值模型，探索接触摩擦过程中皮肤的应力应变是研究触觉感知的有效手段。研究触觉感知中皮肤与感受器的力学响应，可以帮助开发仿真皮肤，提高触肤产品的舒适性；帮助拓展触觉技术的应用，提高触觉传感器的敏感度。针对指尖与物体表面接触过程，建立了指尖的有限元模型，分析了静接触和滑动接触时指尖皮肤的应力应变及对皮肤触觉感受器的影响，研究表明，在静摩擦状态下，样本纹理使得手指的真皮处的应力集中点增多。在滑动摩擦状态下，手指的应力最大值的位置在手指内向滑动方向偏移，且随着指尖变形呈现波动变化。此外，滑动速度能够影响感受器的应力变化，手指在高速滑动时感受应力幅值及刺激响应频率均高于低速滑动。

关键词: 触觉感知, 手指模型, 有限元仿真, 皮肤摩擦

Abstract: Tactile sensation is one of the important ways for human to interact with the external environment. People can perceive and recognize objects through the various tactile receptors densely distributed in the skin of the fingertips, which respond differently to vibrations and stretching. In the process of tactile perception, measuring the stress and strain of human skin is challenging. Therefore, establishing a numerical model of the finger to explore the stress and strain of the skin during contact friction is an effective means to study tactile perception. Studying the mechanical response of skin and receptors in tactile perception can help develop simulated skin, improve the comfort of skin-touching products, expand the application of tactile technology and improve the sensitivity of tactile sensors. A finite element model of the fingertip is established for the contact process between the fingertip and the surface of the object. The stress and strain of the fingertip skin in the process of static contact and sliding friction and their effect on the skin tactile receptors are analyzed. Research indicates that in the process of static friction, the sample texture results in an increase in stress concentration points in the dermis of the fingers. In the prcess of sliding friction, the position of the maximum stress on the fingers shifts inward along the direction of sliding, and fluctuates with the deformation of the fingertips. Additionally, sliding speed can affect the stress change of the tactile receptors; when the fingers slide at high speeds, both the stress amplitude and the stimulation response frequency are higher than when sliding at low speeds.

Key words: tactile perception, finger model, finite element simulation, skin friction

中图分类号:

TG356

陈思, 高驰, 杨传壮, 瞿曹妍, 茹伟民, 许彬, 顾成义, 顾海娟, 唐杰. 基于有限元分析的指尖接触力感知模型研究[J]. 机械工程学报, 2025, 61(11): 376-385.

CHEN Si, GAO Chi, YANG Chuanzhuang, QU Caoyan, RU Weimin, XU Bin, GU Chengyi, GU Haijuan, TANG Jie. Research on Fingertip Contact Force Perception Model Based on Finite Element Analysis[J]. Journal of Mechanical Engineering, 2025, 61(11): 376-385.

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