人工皮肤及其力感知技术在机器人精密操作、环境感知、医疗康复等领域具有广泛应用前景。现有人工皮肤主要测量压力，无法有效感知切向力，与人类皮肤精细的力感知功能相去甚远。新型离子聚合物-金属复合材料（IPMC）不仅能感知变形和压力，同时能有效感知切向力，但目前对其切向力感知性能及理论的研究尚属空白。以人类皮肤为仿生背景，本项目力求揭示并建立IPMC材料切向力感知的机理和模型，并以此为基础对其进行性能优化和构型设计，具体内容包括：1）通过多层次力激励实验和性能测试，以微观固/液结构的各向异性为突破口，揭示IPMC材料的切向力感知机理；2）以等效体积单元作为宏观与微观力作用的连接纽带，建立基于多孔介质力学的力感知模型；3）基于构型设计和模型分析，阐明制备工艺和结构特征与IPMC材料力感知性能之间的关系。人工皮肤是IPMC材料力感知研究的新领域，本项目的研究成果对促进其在人工皮肤中的潜在应用意义重大。

Artificial skin and its force sensing technology have broad application prospects in the fields of robot precision operation, environment perception and medical rehabilitation etc. The existing artificial skin mainly measures the pressure and cannot effectively sense the tangential force, which is far from the fine force sensing function of human skin. The new type of IPMC (Ionic polymer-metal composites) not only can sense the deformation and pressure, but also can effectively sense the tangential force. However, the current research on the tangential force sensing performance and theory is still blank. Based on bionic background of IPMC in artificial skin, this project aims to reveal and establish the mechanism and model of tangential force perception of IPMC, and to optimize its performance and configuration based on this. The specific research contents include: Through multi-level force excitation experiments and performance tests, the anisotropy of micro-solid/liquid structure is taken as a breakthrough to clarify the force perception mechanism of IPMC under tangential force; 2) the equivalent volume unit is used as the connection link of macroscopic and microscopic force and the force perception model of IPMC based on continuum mechanics is established. 3) Based on the configuration design and model analysis, the relationship between the preparation process and structural features and the force perception performance of IPMC is revealed. Artificial skin is a new field of IPMC force perception research. The research achievements of this project are of great significance to promote its potential application in artificial skin.