Nonlinear Contact Mechanics of Soft Structures under Complex Loadings for Vector-Field Mechano-Perception

Perception of mechanics cues (termed mechano-perception) underpins a wide range of leading-edge engineering fields, including human-machine interaction, dexterous robotic manipulation, and advanced biomedical systems. The rapid development of these fields increasingly depends on high-resolution, multidimensional vector-field mechanics information perception. However, existing Vector-Field Mechano-Perception (VFMP)approaches based on electro- or magneto-transduction commonly suffer from structural complexity, environmental susceptibility, and computationally intensive inference. In contrast, vision-based mechano-perception derives contact mechanics quantities by optically tracking the deformation of soft materials, offering notable advantages in simplicity, robustness, and integrability. Yet the absence of a comprehensive theoretical understanding of the nonlinear contact mechanics of soft structures under complex loadings remains a key bottleneck that constrains the advancement of vision-based VFMP technologies.To overcome this limitation, the project will establish a systematic theoretical framework describing the nonlinear contact mechanics of soft structures under coupled complex loadings, including compression, shear, and torsion, to enable next-generation VFMP.Building on the applicant's prior work on nonlinear contact theory of soft elastic spheres under large-deformation compression, we will develop mechanics models that accurately capture essential contact behaviors such as contact force and contact area under complex loadings. A VFMP prototype will then be constructed to experimentally verify and refine the proposed theoretical framework. On this validated foundation, a mechanics-guided (physics-informed) VFMP system will be developed to achieve high-resolution, multidirectional mechano-perception and to explore its potential in representative scenarios such as dexterous robotic manipulation, immersive human–machine interaction, and biomechanical monitoring.⁠⁠⁠⁠⁠⁠⁠The implementation of this proposal is expected to establish an in-depth understanding of the nonlinear contact behaviors and multiaxial mechanical responses of soft structures, thereby advancing the fundamental mechanics of coupled large deformations.Furthermore, it will provide a rigorous scientific basis for the design of intelligent VFMP systems with high accuracy, robustness, and adaptability, offering a general theoretical framework for intelligent mechanical perception that can benefit broad engineering fields such as soft robotics, health monitoring, adaptive materials, and human–machine interfaces. In the long term, the outcomes of this research will contribute to Hong Kong's strategic vision of developing itself into an international hub for advanced manufacturing, smart robotics, and biomedical engineering, fostering cross-disciplinary innovation and talent cultivation in the Greater Bay Area.