力学超材料赋能触觉反馈交互

张壮; 贾晨; 姜汉卿

doi:10.6052/1000-0992-25-030

力学超材料赋能触觉反馈交互

doi: 10.6052/1000-0992-25-030 cstr: 32046.14.1000-0992-25-030

张壮^{1, 2},
贾晨¹,
姜汉卿^2, ,

1.
复旦大学智能机器人研究院, 智能机器人先进制造创新学院, 上海200433
2.
西湖大学工学院, 杭州 310030

基金项目: 感谢国家重点研发计划 (2024YFB4707500), 国家自然科学基金 (12350003, 52575011) 以及机械系统与振动全国重点实验室开放课题 (MSV202515) 的支持及资助.

详细信息

作者简介:
姜汉卿, 西湖大学工学院讲席教授, 博士生导师. 长期从事固体力学、材料科学、及多场耦合问题的基础理论研究和前沿技术创新, 在纳米材料、柔性电子、锂电池中的力-电-化学耦合作用、智能折纸、以及力学超材料等领域均取得了一系列重大的科研成果. 先后主持美国科学基金等科研项目30余项, 总经费500余万美元; 在《Science》《Science》/《Nature》各子刊、《PNAS》等国际知名刊物上发表学术论文170余篇, SCI引用逾20,000次, H-index 75; 获批美国及其他国家发明专利40余项. 2016年当选美国机械工程师协会会士(ASME Fellow). 现任美国机械工程师协会材料分部(Materials Division, ASME)委员会委员(于2025年任委员会主席), Society of Engineering Science (SES)前任主席(于2022年任主席). 担任多个国际学术期刊编辑和编委, 包括《Science Advances》《Extreme Mechanics Letters》《Research (AAAS/Science Partner Journal)》等领域顶刊

通讯作者:
hanqing.jiang@westlake.edu.cn

中图分类号: O34
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出版历程
- 收稿日期: 2025-11-03
- 录用日期: 2026-04-16
- 网络出版日期: 2026-04-29

Mechanical metamaterials empowering haptic feedback

ZHANG Zhuang^{1, 2},
JIA Chen¹,
JIANG Hanqing^{2
, ,}

1.
Institute of AI and Robotics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China
2.
School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China

More Information

Corresponding author: hanqing.jiang@westlake.edu.cn

摘要

摘要: 触觉作为人类五大感官之一, 承载了大量环境交互、空间定位与物理感知等重要信息. 近年来, 随着人机交互技术的迅速发展, 如何高效、真实地再现触觉信息已成为构建沉浸式交互系统的核心问题. 然而, 传统触觉反馈设备普遍存在功能单一、复现度低、结构臃肿以及集成度不足等局限, 难以满足对人类多模态、精细触觉的高效再现与舒适可穿戴的双重需求. 为克服上述瓶颈, 力学超材料凭借其结构超精巧、力学性能可编程以及多功能易集成等特点, 在触觉反馈系统中展现出巨大研究潜力. 本文系统梳理了当前力学超材料的主流功能特性, 分析了可编程泊松比、多稳态跳变、可编程刚度和输出模式转换等特性在触觉交互系统中的应用潜力, 并进一步结合VR/XR娱乐、医疗康复、残障辅助与人机协同等典型触觉反馈应用场景, 从系统层面探讨了力学超材料赋能触觉反馈交互的实施路径. 最后, 本文总结了当前力学超材料在触觉反馈任务中所面临的关键挑战, 并展望其未来在结构智能设计与制造以及多学科融合发展下的应用前景.
- 力学超材料 /
- 触觉反馈 /
- 执行器 /
- 变形机制
Abstract: Touch, as one of the five primary human senses, carries crucial information related to environmental interaction, spatial perception and physical perception. In recent years, with the rapid advancement of human–machine interaction, how to efficiently and realistically reproduce haptic information has become a central challenge in building immersive interaction systems. However, traditional haptic devices are often limited by single functionality, complex structure, bulky size and weak integration, making it difficult to simultaneously achieve multimodal haptic reproduction and wearability. To overcome these bottlenecks, mechanical metamaterials, with their ultra-compact architectures, programmable mechanical properties and multifunctional integration capabilities, have demonstrated remarkable potential in haptic devices. This paper systematically reviews the mainstream functionalities of mechanical metamaterials and the practical integrability with corresponding haptic modalities, highlighting their potentials in haptic systems through programmable Poisson’s ratios, snap-through stabilities, various stiffness, and mode switching. Furthermore, typical haptic feedback application scenarios (VR/XR entertainment, medical rehabilitation, disability assistance and human–machine collaboration) are discussed from a system-level perspective in terms of enabling pathways and integration strategies. Finally, the challenges faced by mechanical metamaterials in haptic feedback are summarized, and future prospects are envisioned in the context of intelligent structural design, micro/nanoscale manufacturing and interdisciplinary convergence.
- mechanical metamaterial /
- haptic feedback /
- actuators /
- deformation mechanisms
注释:

1) † 与第一作者同等贡献

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图 1 力学超材料在触觉反馈交互中的应用前景

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图 2 负泊松比超材料. (a) 基于旋转多边形的负泊松比超材料 (Sorrentino & Castagnetti 2023); (b) 基于旋转多边形的双峰分层超材料 (Hyatt & Harne 2022); (c) 二维内凹六边形蜂窝结构 (Yang et al. 2015); (d) 二维内凹星形结构 (Song et al. 2025); (e) 二维内凹四边形结构 (Wang et al. 2018); (f) 各类手性蜂窝结构 (Alderson et al. 2010); (g) 交叉手性结构 (Farrugia et al. 2019, Lu et al. 2017, Smith et al. 2000); (h) Miura折纸结构 (Lv et al. 2014); (i) 基于山谷线排布的折纸结构 (Li et al. 2024); (j) 具有狭缝阵列的剪纸结构 (Grima et al. 2016); (k) 基于Sarrus连杆运动学的负泊松比结构 (Yang et al. 2023)

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图 3 负刚度超材料. (a) 二维弯曲梁负刚度结构 (Restrepo et al. 2015); (b) 二维多孔板负刚度结构 (Florijn et al. 2016); (c) 具有负刚度特性的壳结构 (Brinkmeyer et al. 2012); (d) 双曲抛物面折纸 (Filipov & Redoutey 2018); (e) 正负刚度可调的折纸结构 (Li et al. 2025); (f) 基于永磁体的负扭转刚度超材料 (Seyedkanani & Akbarzadeh 2022)

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图 4 稳态跳变超材料. (a) 曲梁多稳态结构 (He et al. 2024); (b) 多稳态瓦楞片 (Bense & van Hecke 2021); (c) Miura双稳态折纸 (Faber et al. 2018); (d) Waterbomb双稳态折纸 (Hanna et al. 2014); (e) 可编程多稳态折纸结构 (Chai et al. 2024); (f) 可重构多稳态折纸结构 (Wang et al. 2024a); (g) Kresling双稳态折纸 (Zhai et al. 2018); (h) 双稳态剪纸结构 (Zhang et al. 2024); (i) 多稳态张拉桁架结构 (Ai et al. 2024)

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图 5 能量吸收超材料. (a) 结合曲梁和卡扣的能量吸收超材料 (Liang et al. 2025); (b) 韧带和薄膜约束的能量吸收超材料 (Fu et al. 2019); (c) 桁架晶格超材料 (Osman et al. 2020); (d) 基于自相似方格的分层超材料 (Zhang et al. 2022a); (e) 金字塔剪纸夹层结构 (Chen et al. 2024a)

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图 6 反常变形机制超材料. (a) 手性超材料压扭耦合现象 (Fang et al. 2025); (b) 基于杆件连接形式的手性超材料 (Zheng et al. 2019); (c) 圆形基底手性超材料 (Ou et al. 2024); (d) 基于反对称曲梁的圆柱晶格超材料 (Dong et al. 2024); (e) 多层Kresling折纸结构 (Teng et al. 2025); (f) 基于介电弹性体的管状执行器 (Askari-Sedeh & Baghani 2024)

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图 7 基于负泊松比超材料的触觉设备. (a) 实现皮肤共形的手性马蹄形阵列 (Jang et al. 2015), 标尺均为1 cm; (b) 基于形状记忆合金的指部触觉设备 (Oh et al. 2025); (c) 基于形状记忆合金的多模态可穿戴触觉设备 (Oh et al. 2023), 标尺分别为40 mm和80 mm; (d) 变形正交可控的可穿戴触觉设备 (Khan et al. 2025)

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图 8 基于可编程刚度超材料的触觉设备. (a) 基于曲面折纸超材料的无线触觉设备 (Zhang et al. 2023c), 标尺分别为10 mm和50 mm; (b) 纤维驱动的可变刚度触觉手套 (Jadhav et al. 2021); (c) 具备正负刚度的亚稳态曲梁超材料 (Chibar et al. 2025); (d) 具备可调触觉特性的力学超材料 (Feick et al. 2023)

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图 9 基于多稳态跳变超材料的触觉设备. (a) 基于折/剪纸的触觉单元 (Chang et al. 2020); (b) 形状记忆合金驱动的锥形执行器 (Lin et al. 2024); (c) 用于人机交互中机械触觉接口的多稳态软致动器 (Long et al. 2024)

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图 10 输出模式转换超材料触觉设备. (a) 基于生物弹性恢复的触觉反馈单元 (Flavin et al. 2024), 标尺为2 mm; (b) 基于折纸模块的手术触觉反馈装置 (Yin et al. 2024); (c) 用于牙医训练的Kresling折纸触觉设备 (Iiyoshi et al. 2024)

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图 11 触觉反馈设备在VR/XR娱乐中的应用. (a) 实现沉浸式娱乐体验的触觉手套和腕带 (Huang et al. 2023); (b) 模拟天气和滚动触觉的人造肌肉 (Guo et al. 2024); (c) 提供冲击体验的电磁驱动触觉设备 (Yu et al. 2019); (d) 提供冲击体验的液压驱动触觉设备 (Chen et al. 2024c); (e) 提供抓握反馈的触觉手套 (Oh et al. 2025); (f) 结合气动和振动触觉反馈的静动态感知 (Liu et al. 2024); (g) 提供可变刚度力反馈和指尖振动的HaptGlove (Qi et al. 2023); (h) 与动物进行虚拟交互 (Wang et al. 2024c)

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图 12 触觉反馈设备在医疗康复中的应用. (a) 脑瘫儿童的康复训练 (Koilias et al. 2020); (b) 远程问诊系统 (Talhan et al. 2024); (c) 用于医疗脉搏渲染的振动手套 (Luo et al. 2022); (d) 上肢康复训练 (Albusac et al. 2024)

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图 13 触觉反馈设备在残障人士辅助中的应用. (a) 手部导航系统 (Ha et al. 2025); (b)盲文练习辅助触觉装置 (Chen et al. 2024c); (c) 电磁驱动导航手杖 (Chen et al. 2024b); (d) 用于导航辅助的阵列式气动设备 (Chen et al. 2024c); (e) 液压驱动导航手杖 (Wang et al. 2022); (f) 足部导航设备 (Khan et al. 2025)

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图 14 触觉反馈设备在人机协同中的应用. (a) 主从式机械臂协同作业 (Oh et al. 2025); (b)(c) 纹理信息和物体形状特征在用户端和机器端的双向交互 (Chen et al. 2023); (d) 人机运动轨迹信息传输 (Liu et al. 2024); (e) 六足机器人遥操作期间的触觉反馈 (Liu et al. 2024); (f) 无人机搜救行动中的触觉反馈 (Khan et al. 2025)

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