触觉是机器人获取外界信息的重要手段，智能机器人的快速发展对触觉电子皮肤提出了柔性化和多维力检测的要求。针对这一新问题，本项目利用介电型电活性聚合物研究一种集传感、驱动功能于一体的新型电子皮肤触觉系统。从介电型电活性聚合物的基本力学、电学特性着手，研究其机电耦合特性，建立机电耦合本构关系。在此基础上，对其失效行为进行研究，提出介电型电活性聚合物失效方式的评判标准。进而设计一种多层电子皮肤阵列结构，建立电子皮肤的多维力觉模型，并对其进行解耦算法研究。最终，对电子皮肤的主动触觉功能进行研究，通过电子皮肤配合机械手对目标物体进行抓取试验，利用电子皮肤传感功能向机械手反馈目标物体的物理信息，让机械手尽可能接近目标物体。对于一些容易损坏的目标物体，则同时利用电子皮肤的驱动特性实现夹持力微调，避免损坏目标物体。本项目的研究，可以促进新型电子皮肤在机器人、生物医学、微机电系统等领域的应用。

Tactile is an important iteraction between robot and external enviroment. With the rapid development of intelligent robot, flexibility and multi-mensional force detection are required for tactile sensing system. In order to meet this requirement, a new electronic skin tactile system that integrates function of actuator and sensor based on dielectric electroactive polymer (DEAP) is developed in this project. Investigation on electromechanical coupling characteristics of DEAP is performed on the fundamental of basic mechanical behavior and electricity feature of DEAP and constitutive relation of DEAP is proposed. Then, the failure mechanism of DEAP is analyzed and the criterion of failure is determined. And then, the structure of multilayer tactile sensor array is designed and the mathematical model to detect multi-mensional force is established. The algorithm that can be used for sensing information decoupling of DEAP electronic skin. Finally, the active tactile of DEAP electronic skin is explored.With the physical informatin of touched object transmited by electronic skin, the manipulator can touch the object.For some brittle object, the actuation function of DEAP electronic skin can precisely adjust the clamping force to avoid damage the object. Research on this project has a widely application prospect, which will favor the development of novel DEAP electronic skin in new areas including robotics, biomedical engineering and MEMS.