现有触觉反馈装置（桌面式多关节机械臂、穿戴式力反馈手套等）存在反馈模态缺失、感受逼真度差、装置笨重或穿戴困难等局限，难以满足逼真触觉体验要求。本项目拟研制支持宏观-介观-微观多尺度精细纹理实时生成的可延展主动电子皮肤，实现无需穿戴的裸手交互纹理触觉反馈。通过测量人对精细纹理的触觉感知阈值，构建多尺度纹理呈现的物理模型和生理感知模型；借鉴自然界墨鱼等生物的皮肤结构应激变化生物机理，探索微型电磁驱动单元阵列、柔性电活性聚合物、柔性材料静电吸附等驱动原理的纹理合成机制、结构设计和材料制备方法，研究高密度、微尺度、大规模阵列柔性单元的协同控制原理和实时纹理渲染算法，开展微观形貌量化测量和触觉感知主观性能评测，构建虚拟现实购物系统开展触觉感知效果验证。柔性电子皮肤的研制不但有望显著提升虚拟现实系统的沉浸感和机器人遥操作系统的触觉反馈逼真性，也将为理解人的触觉感受生理机制提供新型研究平台。

Due to the lack of feedback modality, poor perception of fidelity, cumbersome device or difficulty in wearing, existing tactile feedback devices (e.g. desktop multi-joint robotic arms, wearable force feedback gloves, etc.) are difficult to generate realistic haptic sensations. This project aims to develop an extensible active electronic skin that can generate macro-mesoscopic-microscopic fine textures and can support bare-hand interaction. By measuring the tactile perception threshold for fine physical texture, we intend to propose physical models and psychological perception models for multi-scale textures. Furthermore, inspired by the skin of organisms such as cuttlefish in nature, we plan to explore the texture synthesis mechanism, structural design and material fabrication of actuation principles, such as micro-electromagnetic unit array, flexible electroactive polymers (EAPs), electrovibration using flexible material. We will develop real-time control and texture rendering algorithms for high-density and large-scale flexible texture units, measure the micro-morphology of the synthesized textures, and perform subjective evaluations. Finally, we plan to build a virtual reality shopping system to validate the performance of the proposed active skin for texture rendering. The proposed active electronic skin is not only promising to significantly improve the immersion of virtual reality systems and the tactile feedback fidelity of robotic teleoperation systems, but also provide a novel research platform for exploring the physiological mechanism of human haptic perception.