机器人滑动按摩操作时人体皮肤的摩擦和变形行为

IF 4.9 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Journal of Bionic Engineering Pub Date : 2024-05-30 DOI:10.1007/s42235-024-00530-6
Jingmei Zhai, Rixing Li, Ziqing Su
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引用次数: 0

摘要

本研究探讨了皮肤与刚性按摩球接触时的摩擦和变形行为及其影响因素。使用协作机器人实验平台进行了按压和拉伸实验。实验的加载法向力范围为 2 N 至 18 N,滑动速度范围为 10 mm/s 至 20 mm/s。摩擦响应曲线表现出两个不同的阶段:静态粘滞状态和动态粘滑阶段,这两个阶段都已经过数学建模。通过分析实验数据,我们分析了弹性模量、滑动速度和法向加载力对表皮切向摩擦力和拉伸变形的影响。结果表明,随着法向载荷的增加,摩擦力和变形量都会增加。相反,它们会随着弹性模量的增加而减小。值得注意的是,虽然变形随着滑动速度的增加而减小,但摩擦力却相对不受速度的影响。这一观察结果可归因于皮肤在大幅变形时的粘弹性特征所产生的应变速率敏感性。这项研究加深了人们对皮肤摩擦过程中摩擦和变形行为的理解,为提高按摩机器人的操作舒适度提供了宝贵的见解。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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Friction and Deformation Behavior of Human Skin During Robotic Sliding Massage Operation

This study investigates the friction and deformation behavior of the skin in contact with a rigid massage ball and its influencing factors. Pressing and stretching experiments were conducted using a collaborative robot experimental platform. The experiments encompassed a loading normal force range of 2 N to 18 N and a sliding speed range of 10 mm/s to 20 mm/s. The friction response curve exhibits two different stages: static stick state and dynamic stick-slip stage, both of which have been mathematically modeled. By analyzing the experimental data, we analyzed the effects of elastic modulus, sliding speed and normal loading force on skin tangential friction and tensile deformation. The results indicate that as the normal load increases, both friction and deformation exhibit an increase. Conversely, they decrease with an increase in elastic modulus. Notably, while deformation diminishes with higher sliding speed, friction force remains relatively unaffected by velocity. This observation can be attributed to the strain rate sensitivity resulting from the viscoelastic characteristics of the skin under substantial deformation. This study advances the understanding of friction and deformation behavior during skin friction, offering valuable insights to enhance the operational comfort of massage robots.

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来源期刊
Journal of Bionic Engineering
Journal of Bionic Engineering 工程技术-材料科学:生物材料
CiteScore
7.10
自引率
10.00%
发文量
162
审稿时长
10.0 months
期刊介绍: The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.
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