中文摘要：

基于新型力敏导电橡胶的压阻效应和力信息检测原理，设计了一种三维网状阵列结构的柔性力敏导电橡胶触觉传感器。通过分析得出计算三维力的数学描述，并针对多维柔性触觉传感器的阵列结构进行了有限元仿真研究，获得了在不同的三维力作用下中心节点坐标的三个方向位移变化量，并计算了三维力作用前后力敏导电橡胶阵列单元的输出电阻的变化，为验证实验结果和新型结构设计提供有效的依据。

英文摘要：

Based on the pressure-resistive effect and force information examination principle characteristic of the force sensitive conductive rubber, a new three dimensional netted array structure of the force sensitive conductive tactile sensor was designed. This paper inferred the mathematics description of computing three dimensional force through analysis, carried on a series of finite elements simulation to the array structure of multi-dimensional flexible tactile sensor, obtained the displacement quantity of the central pitch point coordinate under the action of three dimensional force and calculated around the output resistance change of the force sensitive conductive rubber sensor array unit under three dimensional action of force. It provided effective basis for the confirmation experiment result and the new structural design.