基于超声谐振挤压膜效应的触觉纹理动态感知及实验研究

打开文本图片集

关键词：超声振动;挤压膜效应;摩擦调控;触觉再现;长短期记忆（LSTM）神经网络中图分类号：TH113.1;TP273DOI：10.3969/j.issn.1004-132X.2025.11.012

Abstract： Using the mechanism that modulating sliding friction at the contact interfaces might perceive changing tactile texture features， an ultrasonic resonance tactile dynamic perception device was proposed based on the squeeze film efect. The theoretical model of the friction-reducing mechanism of the squeeze film effect was constructed under the high squeeze factor of the squeeze film，and the mapping relationship between the friction-regulating performance and the actual material texture was established through the friction factor calibration experiments. The results show that the device may achieve the dynamic regulation of surface friction factorisas 0.295～0.807 under the excitation of 36.314kHz resonance signalsand the voltage amplitude is as 0～200V . A LSTM neural network was used to construct a temporal force signal and tactile texture prediction model to objectively evaluate the tactile texture reproduction performance of the device，and the average error of the model prediction results is as 3.33% ，which verifies the device has a good reproduction effectiveness of tactile texture.

Key words： ultrasonic vibration； squeeze film effect； friction modulation； haptic reproduction； longshort-term memory（LSTM） neural network

0 引言

作为物体表面普遍存在且兼具视觉与触觉双重属性的重要特征，纹理在物体识别过程中发挥着关键作用[2]。（剩余12889字）