The human skin has amplifier functions for tactile sense. Pacinian corpuscles of mechanoreceptors are sensitive to vibrotactile stimulation, despite their distributions in the deep portion in the skin. Collagen fibers within the subcutaneous tissue help in the transmission of stress to the deep portion. The sensing elements embedded in the deep portion can soften the tactile sensors and provide robustness for the sensing function. Inspired by the configuration of collagen fibers in monkey fingertips, this study proposes a soft tactile sensor containing a fiber structure. The sensor consists of three layers: the epidermis, dermis, and subcutaneous tissue, represented by natural rubber, elastomer resin, and urethane resin, respectively. The fiber structure made of the elastomer resin is in the form of quadrangular pyramids, with pillars expanding from the dermis layer to the bottom layer inside the urethane resin. Strain gauges are embedded in the shallow and deep portions of the sensor. Finite element analysis and experiments on the spatial responses and basic characteristics of the frequency and force were conducted. The results showed that the tactile sensor with a fiber structure has a higher sensitivity to vibrotactile stimulation in the deep portion than the sensor with a uniform structure.

人体皮肤具有用于触觉的放大器功能。尽管机械感受器的Pacinian小体分布在皮肤的深部，但它们对震动触觉敏感。皮下组织内的胶原纤维有助于将压力传递至深部。嵌入在较深部分中的感测元件可以使触觉传感器软化并为感测功能提供鲁棒性。受猴子指尖胶原纤维结构的启发，这项研究提出了一种包含纤维结构的柔软触觉传感器。传感器由三层组成：表皮，真皮和皮下组织，分别以天然橡胶，弹性体树脂和聚氨酯树脂为代表。由弹性体树脂制成的纤维结构呈四角锥状，柱子从真皮层扩展到聚氨酯树脂内部的底层。应变仪嵌入在传感器的浅处和深处。进行了空间响应和频率和力的基本特征的有限元分析和实验。结果表明，与具有均匀结构的传感器相比，具有纤维结构的触觉传感器在较深的部分对振动触觉刺激具有更高的灵敏度。