Page 13 - 《摩擦学学报》2020年第3期
P. 13

第 3 期                 陈强, 等: 人手指腹与光滑物体间的静摩擦力与湿度和抓持力的关系                                       279

   玻璃表面的黏着力却很大. 根据式(3),法向力越小,黏                       [  6  ]  Bowden  F  P,  Tabor  D.  Friction:  an  introduction  to  tribology[M].
                                                          New York: RE Krieger Publishing Company, 1973.
   着力占最大静摩擦力的比重越大,从而最大静摩擦系
                                                     [  7  ]  Comaish S, Bottoms E V A. The skin and friction: deviations from
   数越大.                                                   Amonton ’s  laws,  and  the  effects  of  hydration  and  lubrication[J].
       图10中显示随着湿度增大,最大静摩擦系数先增                             British Journal of Dermatology, 1971, 84(1): 37–43. doi: 10.1111/
   加到最大后逐渐减小,且相对湿度在60%附近最大静                               j.1365-2133.1971.tb14194.x.
                                                     [  8  ]  Pang  Qiang,  Li  Wei,  Xu  Ping,  et  al.  Quantitative  assessment  of
   摩擦系数普遍较大. 这一现象也与皮肤的黏着特性有
                                                          human  skin  friction  perception  based  on  partial  least  squares
   关,由上面湿度对最大静摩擦系数影响机理分析结                                 regression  method[J].  Journal  of  Mechanical  Engineering,  2014,
   论:随着湿度增大黏着力先增加到最大后减小,在潮                                50(3): 145–150 (in Chinese) [庞强, 李炜, 徐萍, 等. 人体皮肤摩擦
                                                          感知基于偏最小二乘回归方法的量化评定[J]. 机械工程学报,
   湿条件下黏着力最大. 根据式(5),在给定法向力下
                                                          2014, 50(3): 145–150]. doi: 10.3901/JME.2014.03.145.
   F 为定值;再结合式(3),随着湿度增大,最大静摩擦                        [  9  ]  Kent B A, Lavery J, Engeberg E D. Anthropomorphic control of a
    def
   力随黏着力先增加到最大后减小,从而最大静摩擦系                                dexterous artificial hand via task dependent temporally synchronized
                                                          synergies[J]. Journal of Bionic Engineering, 2014, 11(2): 236–248.
   数也先增加到最大后减小.
                                                          doi: 10.1016/S1672-6529(14)60044-5.
   3    结论                                           [10]  Takamuku  S,  Fukuda  A,  Hosoda  K.  Repetitive  grasping  with
                                                          anthropomorphic  skin-covered  hand  enables  robust  haptic
       a.一定湿度条件下最大静摩擦系数随抓持力增加                             recognition[C]//2008  IEEE/RSJ  International  Conference  on
                                                          Intelligent  Robots  and  Systems,  Sep22-26,  2008.  Nice,  France:
   呈负幂函数下降变化,其下降幅度与湿度具有直接关
                                                          IEEE, 2008: 3212-3217.
   系. 静态抓持过程中,手指最大静摩擦系数随抓持力                          [11]  Derler S, Preiswerk M, Rotaru G M, et al. Friction mechanisms and
   变化分两个阶段,分别是幂函数下降阶段和稳定阶段.                               abrasion of the human finger pad in contact with rough surfaces[J].
                                                          Tribology International, 2015, 89(9): 119–127.
       b.湿度对最大静摩擦系数影响与皮肤的黏着力有
                                                     [12]  Pasumarty  S  M,  Johnson  S  A,  Watson  S  A,  et  al.  Friction  of  the
   关,潮湿条件下皮肤黏着力最大,抓持物体稳定性优
                                                          human finger pad: influence of moisture, occlusion and velocity[J].
   于干燥和湿润条件. 湿度对最大静摩擦系数的影响是                               Tribology Letters, 2011, 44(2): 117–137. doi: 10.1007/s11249-011-
   非线性的,随着湿度增大最大静摩擦系数逐渐增加,                                9828-0.
                                                     [13]  AndrÉ  T,  LefÈvre  P,  Thonnard  J  L.  A  continuous  measure  of
   达到最大值后减小.
                                                          fingertip  friction  during  precision  grip[J].  Journal  of  Neuroscience
       c.法向力越小最大静摩擦系数越大,这一现象主                             Methods, 2009, 179(2): 224–229. doi: 10.1016/j.jneumeth.2009.01.
   要与皮肤的黏着特性有关. 法向力越小,黏着力占最                               031.
                                                     [14]  Westling  G,  Johansson  R  S.  Factors  influencing  the  force  control
   大静摩擦力的比重越大,从而最大静摩擦系数越大.
                                                          during precision grip[J]. Experimental Brain Research, 1984, 53(2):
   参 考 文 献                                                277–284.
                                                     [15]  Johansson  R  S,  Westling  G.  Roles  of  glabrous  skin  receptors  and
   [  1  ]  AndrÉ T, LÉvesque V, Hayward V, et al. Effect of skin hydration on
                                                          sensorimotor  memory  in  automatic  control  of  precision  grip  when
       the dynamics of fingertip gripping contact[J]. Journal of The Royal
                                                          lifting  rougher  or  more  slippery  objects[J].  Experimental  Brain
       Society Interface, 2011, 8(64): 1574–1583. doi: 10.1098/rsif.2011.
                                                          Research, 1984, 56(3): 550–564.
       0086.
                                                     [16]  Bowden  F  P,  Tabor  D.  The  friction  and  lubrication  of  solids[M].
   [  2  ]  Tang  Wei,  Zhu  Hua,  Ding  Luying,  et  al.  Experimental  study  on
                                                          Oxford : Oxford University Press, 2001.
       friction characteristics of human hand skin[J]. Journal of Tribology,
                                                     [17]  Huang T H, Chou J C, Sun T P, et al. A device for skin moisture and
       2006, 26(5): 494–497 (in Chinese) [唐玮, 朱华, 丁璐颖, 等. 人体手
                                                          environment  humidity  detection[J].  Sensors  and  Actuators  B:
       部 皮 肤 的 摩 擦 特 性 试 验 研 究 [J].  摩 擦 学 学 报 ,  2006,  26(5):
                                                          Chemical, 2008, 134(1): 206–212. doi: 10.1016/j.snb.2008.04.030.
       494–497]. doi: 10.3321/j.issn:1004-0595.2006.05.020.
                                                     [18]  Wolfram LJ. Friction of skin[J]. Journal of the Society of Cosmetic
   [  3  ]  Zhang Meng, Mo Jiliang, Xu Jingye, et al. A new type of test device
                                                          Chemists, 1983, 34(8): 465–476.
       for analyzing finger contact friction[J]. Journal of Tribology, 2016,
       36(6): 776–780 (in Chinese) [张猛, 莫继良, 徐敬业, 等. 一种分析  [19]  Adams M J, Briscoe B J, Johnson S A. Friction and lubrication of
                                                          human  skin[J].  Tribology  Letters,  2007,  26(3):  239 –253.  doi:
       手指接触摩擦的新型试验装置[J]. 摩擦学学报, 2016, 36(6):
                                                          10.1007/s11249-007-9206-0.
       776–780]. doi: 10.16078/j.tribology.2016.06.016.
                                                     [20]  Tomlinson  S  E,  Lewis  R,  Liu  X,  et  al.  Understanding  the  friction
   [  4  ]  Blau  P  J.  The  significance  and  use  of  the  friction  coefficient[J].
       Tribology International, 2001, 34(9): 585–591. doi: 10.1016/S0301-  mechanisms between the human finger and flat contacting surfaces
       679X(01)00050-0.                                   in moist conditions[J]. Tribology Letters, 2011, 41(1): 283–294. doi:
   [  5  ]  Zhang Bingyu, Li Wei, Shi Lei, et al. Study on the sensing ability of  10.1007/s11249-010-9709-y.
       finger  skin  under  different  normal  forces  and  texture  spacing[J].  [21]  Gerhardt  L  C,  StrÄssle  V,  Lenz  A,  et  al.  Influence  of  epidermal
       Tribology, 2014, 34(4): 452–458 (in Chinese) [张冰玉, 李炜, 石磊,  hydration on the friction of human skin against textiles[J]. Journal of
       等. 不同法向力和纹理间距下的手指皮肤感知能力研究[J]. 摩擦                   the  Royal  Society  Interface,  2008,  5(28):  1317 –1328.  doi:
       学学报, 2014, 34(4): 452–458].                        10.1098/rsif.2008.0034.
   8   9   10   11   12   13   14   15   16   17   18