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

作　　者：Jingmei Zhai Rixing Li Ziqing Su 

机构地区：[1]School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou,510000,China

出　　处：《Journal of Bionic Engineering》2024年第4期1892-1904,共13页仿生工程学报（英文版）

基　　金：supported in part by the Guangdong Basic and Applied Basic Research Foundation(No.2023A1515010682)。

摘　　要：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.

关 键 词：Human skin Friction sliding DEFORMATION Robotic massage Stereo image 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O313.5[自动化与计算机技术—控制科学与工程]