基于触觉感知的聚合物复合材料热导率和邵氏硬度研究

触觉反馈在虚拟现实、医疗设备和工业自动化等领域中扮演着至关重要的角色。为了提高实体产品温度和硬度触觉感知的设计验证效率，需要快速且低成本地制备特定热导率和软硬度的材料原型。为响应国家教育工程改革新要求，本研究通过多学科交叉，致力于探索材料科学与产品触觉反馈设计的融合，从材料创新的维度赋能实体产品设计。据此，本研究探索了使用填充方法制备聚合物复合材料的工艺，以便快速生成特定区间邵氏硬度和热导率的柔性导热复合材料。通过采用直接混料和铜泡沫三维导热通路的构建，制备出热导率在0.2∼2.5W/(m·k)，邵氏硬度0∼70HA 区间的复合材料。本研究着重分析了导热聚合物材料制备的发展状况、快速制备不同热导率和邵氏硬度可辨识材料的重要性、以及实体产品在材料温度和硬度触觉反馈设计层面的需求。通过选择Ecoflex 作为基体材料，氧化铝、氮化硼等作为高热导率填料，进行了直接混料和基于铜泡沫三维导热通路的柔性导热复合材料制备，并研究了不同填料填充量、形貌、级配方式等对复合材料热导率和邵氏硬度数值的影响。最后利用该结论制备了可用于触觉感知的材料样本，并探究了当同时考虑材料热导率和邵氏硬度指标时，人手的感知区分能力变化。实验结果表明，基于本研究制备工艺生成的38 块柔性导热复合材料，在感知区分上可以分别从热导率和邵氏硬度层面被划为三档共九种组合，为产品触觉反馈设计的迭代与验证提供了更多的选项与参考。

[1] 杨雨惠. 残障人士的产品设计在“触感”中的形式语言研究[J]. 鞋类工艺与设计, 2024, 4:146-148.
[2] 五部门联合发布《虚拟现实与行业应用融合发展行动计划(2022—2026 年)》[J]. 信息技术与标准化, 2022: 5.
[3] CHOI C, MA Y, LI X, et al. Surface haptic rendering of virtual shapes through change in surfacetemperature[J]. Science Robotics, 2022, 7(63): eabl4543.
[4] TAN Z Y, CHOO C M, LIN Y, et al. The Effect of Temperature on Tactile Softness Perception[J]. IEEE Transactions on Haptics, 2022, 15(3): 638-645.
[5] JONES L A, BERRIS M. Material discrimination and thermal perception[C]//11th Symposiumon Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003.Proceedings. IEEE, 2003: 171-178.
[6] HO H N, JONES L A. Contribution of thermal cues to material discrimination and localization[J]. Perception & Psychophysics, 2006, 68(1): 118-128.
[7] LEFEUVRE K, TOTZAUER S, BISCHOF A, et al. Loaded dice: exploring the design space ofconnected devices with blind and visually impaired people[C]//Proceedings of the 9th Nordicconference on human-computer interaction. 2016: 1-10.
[8] MATVIIENKO A, HORWEGE S, FRICK L, et al. CubeLendar: Design of a tangible interac-tive event awareness cube[C]//Proceedings of the 2016 CHI Conference Extended Abstracts onHuman Factors in Computing Systems. 2016: 2601-2608.
[9] ARORA J, SAINI A, MEHRA N, et al. Virtualbricks: Exploring a scalable, modular toolkit forenabling physical manipulation in vr[C]//Proceedings of the 2019 CHI Conference on HumanFactors in Computing Systems. 2019: 1-12.
[10] BOZGEYIKLI E, BOZGEYIKLI L L. Evaluating object manipulation interaction techniquesin mixed reality: Tangible user interfaces and gesture[C]//2021 IEEE Virtual Reality and 3DUser Interfaces (VR). IEEE, 2021: 778-787.
[11] POTTS D, DABRAVALSKIS M, HOUBEN S. TangibleTouch: A Toolkit for DesigningSurface-based Gestures for Tangible Interfaces[C]//Sixteenth International Conference on Tan-gible, Embedded, and Embodied Interaction. 2022: 1-14.
[12] 魏旭一. 虚拟现实情境下的振动感认知研究与触觉反馈设计[D]. 湖南大学, 2018.
[13] 王党校, 张玉茹. 触力觉人机交互导论[M]. 人民邮电出版社, 2022.
[14] OKAMOTO S, NAGANO H, YAMADA Y. Psychophysical dimensions of tactile perceptionof textures[J]. IEEE Transactions on Haptics, 2012, 6(1): 81-93.
[15] LEDERMAN S J, KLATZKY R L. Haptic perception: A tutorial[J]. Attention, Perception, &Psychophysics, 2009, 71(7): 1439-1459.
[16] HIRAI S, MIKI N. Thermal Sensation Display with Controllable Thermal Conductivity[C]//2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems &Eurosensors XXXIII (TRANSDUCERS & EUROSENSORS XXXIII). IEEE, 2019: 1659-1661.
[17] BENSMAÏA S, HOLLINS M. Pacinian representations of fine surface texture[J]. Perception& psychophysics, 2005, 67: 842-854.
[18] HOLLINS M, RISNER S R. Evidence for the duplex theory of tactile texture perception[J].Perception & psychophysics, 2000, 62(4): 695-705.
[19] MANSOUR N A, EL-BAB A M F, ABDELLATIF M. Shape characterization of a multi-modaltactile display device for biomedical applications[C]//2012 First International Conference onInnovative Engineering Systems. IEEE, 2012: 7-12.
[20] MANSOUR N A, EL-BAB A M F, ABDELLATIF M. Design of a novel multi-modal tac-tile display device for biomedical applications[C]//2012 4th IEEE RAS & EMBS InternationalConference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2012: 183-188.
[21] CHOI I, OFEK E, BENKO H, et al. Claw: A multifunctional handheld haptic controller forgrasping, touching, and triggering in virtual reality[C]//Proceedings of the 2018 CHI conferenceon human factors in computing systems. 2018: 1-13.
[22] WHITMIRE E, BENKO H, HOLZ C, et al. Haptic revolver: Touch, shear, texture, and shaperendering on a reconfigurable virtual reality controller[C]//Proceedings of the 2018 CHI con-ference on human factors in computing systems. 2018: 1-12.
[23] NAKAMURA T, YAMAMOTO A. Extension of an electrostatic visuo-haptic display to providesoftness sensation[C]//2016 IEEE Haptics Symposium (HAPTICS). IEEE, 2016: 78-83.
[24] YANG G H, KYUNG K U, SRINIVASAN M A, et al. Development of quantitative tactiledisplay device to provide both pin-array-type tactile feedback and thermal feedback[C]//SecondJoint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environmentand Teleoperator Systems (WHC’07). IEEE, 2007: 578-579.
[25] YANG G H, KYUNG K U, SRINIVASAN M A, et al. Quantitative tactile display device withpin-array type tactile feedback and thermal feedback[C]//Proceedings 2006 IEEE InternationalConference on Robotics and Automation, 2006. ICRA 2006. IEEE, 2006: 3917-3922.
[26] HRIBAR V E, PAWLUK D T. A tactile-thermal display for haptic exploration of virtual paint-ings[C]//The proceedings of the 13th international ACM SIGACCESS conference on Comput-ers and accessibility. 2011: 221-222.
[27] GALLO S, SON C, LEE H J, et al. A flexible multimodal tactile display for delivering shapeand material information[J]. Sensors and Actuators A: Physical, 2015, 236: 180-189.
[28] TIEST W M B, KAPPERS A M. Discrimination of thermal diffusivity[C]//World Haptics 2009-Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environ-ment and Teleoperator Systems. IEEE, 2009: 635-639.
[29] LI B, GERLING G J. Individual differences impacting skin deformation and tactile discrimina-tion with compliant elastic surfaces[C]//2021 IEEE World Haptics Conference (WHC). IEEE,2021: 721-726.
[30] DING S, PAN Y, TONG M, et al. Tactile perception of roughness and hardness to discriminatematerials by friction-induced vibration[J]. Sensors, 2017, 17(12): 2748.
[31] YUAN W, ZHU C, OWENS A, et al. Shape-independent hardness estimation using deep learn-ing and a gelsight tactile sensor[C]//2017 IEEE International Conference on Robotics and Au-tomation (ICRA). IEEE, 2017: 951-958.
[32] PETERS L, SERHAT G, VARDAR Y. ThermoSurf: Thermal display technology for dynamicand multi-finger interactions[J]. Ieee Access, 2023, 11: 12004-12014.
[33] HO H, JONES L. Material identification using real and simulated thermal cues[C]//The 26thannualinternationalconference ofthe IEEEengineering inmedicine andbiology society: Vol.1.IEEE, 2004: 2462-2465.
[34] NAM S, KUCHENBECKER K J. Optimizing a viscoelastic finite element model to representthe dry, natural, and moist human finger pressing on glass[J]. IEEE Transactions on Haptics,2021, 14(2): 303-309.
[35] KENSHALO D R, DECKER T, HAMILTON A. Spatial summation on the forehead, forearm,and back produced by radiant and conducted heat.[J]. Journal of comparative and physiologicalpsychology, 1967, 63(3): 510.
[36] JOHNSON K O, DARIAN-SMITH I, LAMOTTE C. Peripheral neural determinants of tem-perature discrimination in man: a correlative study of responses to cooling skin.[J]. Journal ofNeurophysiology, 1973, 36(2): 347-370.
[37] LIAO Z, HOSSAIN M, YAO X. Ecoflex polymer of different Shore hardnesses: Experimentalinvestigations and constitutive modelling[J]. Mechanics of Materials, 2020, 144: 103366.
[38] LI A, ZHANG C, ZHANG Y F. Thermal conductivity of graphene-polymer composites: Mech-anisms, properties, and applications[J]. Polymers, 2017, 9(9): 437.
[39] HUANG C, QIAN X, YANG R. Thermal conductivity of polymers and polymer nanocompos-ites[J]. Materials Science and Engineering: R: Reports, 2018, 132: 1-22.
[40] 刘少刚, 王李波, 王晓龙, 等. 高导热网络聚合物基复合材料的研究进展.[J]. China Plastic-s/Zhongguo Suliao, 2019, 33(8).
[41] 杜伯学, 孔晓晓, 肖萌, 等. 高导热聚合物基复合材料研究进展[J]. 电工技术学报, 2018, 33(14): 3149-3159.
[42] GUO Y, RUAN K, SHI X, et al. Factors affecting thermal conductivities of the polymers andpolymer composites: A review[J]. Composites Science and Technology, 2020, 193: 108134.
[43] 周文英. 高导热绝缘高分子复合材料研究[D]. 西北工业大学, 2007.
[44] BURGER N, LAACHACHI A, FERRIOL M, et al. Review of thermal conductivity in com-posites: Mechanisms, parameters and theory[J]. Progress in Polymer Science, 2016, 61: 1-28.
[45] 储九荣徐传骧. 导热高分子材料的研究与应用[J/OL]. 高分子材料科学与工程, 2000: 17-21. DOI: 10.16865/j.cnki.1000-7555.2000.04.005.
[46] BAI X, ZHANG C, ZENG X, et al. Recent progress in thermally conductive polymer/boron ni-tride composites by constructing three-dimensional networks[J]. Composites Communications,2021, 24: 100650.
[47] WANG W, ZHAO M, JIANG D, et al. Amino functionalized boron nitride and enhanced thermalconductivity of epoxy composites via combining mixed sizes of fillers[J]. Ceramics Interna-tional, 2022, 48(2): 2763-2770.
[48] BAI L, ZHANG Z M, PU J H, et al. Highly thermally conductive electrospun stereocomplexpolylactide fibrous film dip-coated with silver nanowires[J]. Polymer, 2020, 194: 122390.
[49] AZIZI S, DAVID E, FRÉCHETTE M F, et al. Electrical and thermal phenomena in low-densitypolyethylene/carbon black composites near the percolation threshold[J]. Journal of AppliedPolymer Science, 2019, 136(6): 47043.
[50] SHEN W, WU W, LIU C, et al. Achieving a high thermal conductivity for segregated BN/-PLA composites via hydrogen bonding regulation through cellulose network[J]. Polymers forAdvanced Technologies, 2020, 31(9): 1911-1920.
[51] LIU C, WU W, WANG Y, et al. Silver-coated thermoplastic polyurethane hybrid granules fordual-functional elastomer composites with exceptional thermal conductive and electromagneticinterference shielding performances[J]. Composites Communications, 2021, 25: 100719.
[52] QIAN T, LI J, MIN X, et al. Enhanced thermal conductivity of PEG/diatomite shape-stabilizedphase change materials with Ag nanoparticles for thermal energy storage[J]. Journal of materialschemistry A, 2015, 3(16): 8526-8536.
[53] YUAN H, WANG Y, LI T, et al. Highly thermal conductive and electrically insulating poly-mer composites based on polydopamine-coated copper nanowire[J]. Composites Science andTechnology, 2018, 164: 153-159.
[54] TAVMAN I. Thermal and mechanical properties of aluminum powder-filled high-densitypolyethylene composites[J]. Journal of Applied Polymer Science, 1996, 62(12): 2161-2167.
[55] HAN Z, FINA A. Thermal conductivity of carbon nanotubes and their polymer nanocomposites:A review[J]. Progress in polymer science, 2011, 36(7): 914-944.
[56] SHEN X, KIM J K. 3D graphene and boron nitride structures for nanocomposites with tai-lored thermal conductivities: recent advances and perspectives[J]. Functional Composites andStructures, 2020, 2(2): 022001.
[57] ZHANGZ,QUJ,FENGY,etal. Assemblyofgraphene-alignedpolymercompositesforthermalconductive applications[J]. Composites Communications, 2018, 9: 33-41.
[58] YANG D, WEI Q, LI B, et al. High thermal conductive silicone rubber composites constructedby strawberry-structured Al2O3-PCPA-Ag hybrids[J]. Composites Part A: Applied Science andManufacturing, 2021, 142: 106260.
[59] ZHANG K, TAO P, ZHANG Y, et al. Highly thermal conductivity of CNF/AlN hybrid filmsfor thermal management of flexible energy storage devices[J]. Carbohydrate polymers, 2019,213: 228-235.
[60] YAO Y, ZENG X, PAN G, et al. Interfacial engineering of silicon carbide nanowire/cellulosemicrocrystal paper toward high thermal conductivity[J]. ACS applied materials & interfaces,2016, 8(45): 31248-31255.
[61] GUO Y, RUAN K, GU J. Controllable thermal conductivity in composites by constructingthermal conduction networks[J]. Materials Today Physics, 2021, 20: 100449.
[62] ZHANG F, FENG Y, FENG W. Three-dimensional interconnected networks for thermallyconductive polymer composites: Design, preparation, properties, and mechanisms[J]. Materi-als Science and Engineering: R: Reports, 2020, 142: 100580.
[63] SHEN X, ZHENG Q, KIM J K. Rational design of two-dimensional nanofillers for polymernanocomposites toward multifunctional applications[J]. Progress in Materials Science, 2021,115: 100708.
[64] 蒋军祥, 吴浩斌. 自模板法构筑中空纳米结构 CoP-C 复合微球及其电化学储钠性能[J/OL]. 材料科学与工程学报, 2022, 40: 191-198+366. DOI: 10.14136/j.cnki.issn1673-2812.2022.02.002.
[65] 卢鹏荐, 章嵩, 官建国. 自模板法制备中空多孔银纳米片[J/OL]. 应用化工, 2022, 51: 89-92.DOI: 10.16581/j.cnki.issn1671-3206.2022.01.017.
[66] CAO L, WANG J, DONG J, et al. Preparation of highly thermally conductive and electricallyinsulating PI/BNNSs nanocomposites by hot-pressing self-assembled PI/BNNSs microspheres[J]. Composites Part B: Engineering, 2020, 188: 107882.
[67] 赵嘉腾, 王星稳, 任冬梅, 等. ZIF-67 牺牲模板法制备CoCu-LDH 及电化学法测定多巴胺[J/OL]. 分析试验室, 2023, 42: 1039-1044. DOI:10.13595/j.cnki.issn1000-0720.2022.061502.
[68] 和祥, 黄千里, 陈煜辉, 等. 多孔氧化铝陶瓷材料的制备工艺研究进展[J]. 粉末冶金材料科学与工程, 2021, 26: 483-491.
[69] WU Y, YE K, LIU Z, et al. Cotton candy-templated fabrication of three-dimensional ceramicpathway within polymer composite for enhanced thermal conductivity[J]. ACS Applied Mate-rials & Interfaces, 2019, 11(47): 44700-44707.
[70] 王晓亮, 张多, 石雪梅, 等. Co 金属有机骨架模板制备NiCo 水滑石/泡沫镍复合材料及电容性能[J]. 无机化学学报, 2023, 39: 607-616.
[71] LEE S, KIM J. Thermally conductive 3D binetwork structured aggregated boron nitride/Cu-foam/polymer composites[J]. Synthetic Metals, 2020, 270: 116587.
[72] JIANG F, ZHOU S, XU T, et al. Enhanced thermal conductive and mechanical properties ofthermoresponsive polymeric composites: Influence of 3D interconnected boron nitride networksupported by polyurethane@ polydopamine skeleton[J]. Composites Science and Technology,2021, 208: 108779.
[73] GOLSTEIJN C, VAN DEN HOVEN E. Facilitating parent-teenager communication throughinteractive photo cubes[J]. Personal and Ubiquitous Computing, 2013, 17: 273-286.
[74] VONACH E, TERNEK M, GERSTWEILER G, et al. Design of a health monitoring toy forchildren[C]//Proceedings of the The 15th International Conference on Interaction Design andChildren. 2016: 58-67.
[75] SHEN X, WANG Z, WU Y, et al. A three-dimensional multilayer graphene web for poly-mer nanocomposites with exceptional transport properties and fracture resistance[J]. MaterialsHorizons, 2018, 5(2): 275-284.
[76] JIA X, LI Q, AO C, et al. High thermal conductive shape-stabilized phase change materials ofpolyethylene glycol/boron nitride@ chitosan composites for thermal energy storage[J]. Com-posites Part A: Applied Science and Manufacturing, 2020, 129: 105710.
[77] YANG J, TANG L S, BAO R Y, et al. An ice-templated assembly strategy to construct grapheneoxide/boron nitride hybrid porous scaffolds in phase change materials with enhanced thermalconductivity and shape stability for light–thermal–electric energy conversion[J]. Journal ofmaterials chemistry A, 2016, 4(48): 18841-18851.
[78] 关振铎, 张中太, 焦金生. 无机材料物理性能(第2 版)[M]. 清华大学出版社, 2011.
[79] 陈火成. 浅析指针式A 型邵氏硬度计硬度测定值影响因素和解决对策[J]. 计量与测试技术, 2014, 41: 31-32+35.
[80] YE C M, SHENTU B Q, WENG Z X. Thermal conductivity of high density polyethylene filledwith graphite[J]. Journal of Applied Polymer Science, 2006, 101(6): 3806-3810.
[81] 王正芳. 氮化硼填充聚合物基导热复合材料的制备与性能研究[Z]. 哈尔滨理工大学,2024.
[82] GUAN H D, HE X B, ZHANG Z J, et al. Recent advances in 3D interconnected carbon/metalhigh thermal conductivity composites[J]. New Carbon Materials, 2023, 38(5): 804-824.
[83] CHEN H, GINZBURG V V, YANG J, et al. Thermal conductivity of polymer-based composites:Fundamentals and applications[J]. Progress in Polymer Science, 2016, 59: 41-85.
[84] KEMALOGLU S, OZKOC G, AYTAC A. Thermally conductive boron nitride/SEBS/EVAternary composites:“processing and characterization”[J]. Polymer composites, 2010, 31(8):1398-1408.
[85] GREEN B G. Localization of thermal sensation: An illusion and synthetic heat[J]. Perception& Psychophysics, 1977, 22(4): 331-337.
[86] SHERIDAN J G, SHORT B W, VAN LAERHOVEN K, et al. Exploring cube affordance:Towards a classification of non-verbal dynamics of physical interfaces for wearable computing[M]. IET, 2003.
[87] LECHELT Z, ROGERS Y, MARQUARDT N, et al. ConnectUs: A new toolkit for teachingabout the Internet of Things[C]//Proceedings of the 2016 CHI Conference Extended Abstractson Human Factors in Computing Systems. 2016: 3711-3714.
[88] 许涤龙, 谭朵朵, 沈春华. 统计学基础实验[M]. 中国统计出版社, 2010.
[89] 裴文明, 张慧, 鞠昌华, 等. 基于韦伯-费希纳定律的淮南采煤沉陷水域水环境综合预警评价[J]. 煤田地质与勘探, 2020, 48: 1-7.
[90] WEBER E H. EH Weber on the tactile senses[M]. Psychology Press, 1996.
[91] VAN DER HORST B J, KAPPERS A M. Curvature discrimination in various finger conditions[J]. Experimental brain research, 2007, 177: 304-311.67