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Article(id=1244321218850046808, tenantId=1146029695717560320, journalId=1244284848500682798, issueId=1244321215637209904, articleNumber=null, orderNo=null, doi=10.16156/j.1004-7220.2025.05.014, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1735747200000, receivedDateStr=2025-01-02, revisedDate=1740326400000, revisedDateStr=2025-02-24, acceptedDate=null, acceptedDateStr=null, onlineDate=1774598896943, onlineDateStr=2026-03-27, pubDate=1759248000000, pubDateStr=2025-10-01, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1774598896943, onlineIssueDateStr=2026-03-27, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1774598896943, creator=13701087609, updateTime=1774598896943, updator=13701087609, issue=Issue{id=1244321215637209904, tenantId=1146029695717560320, journalId=1244284848500682798, year='2025', volume='40', issue='5', pageStart='1079', pageEnd='1366', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1774598896178, creator=13701087609, updateTime=1774599509568, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1244323788452639476, tenantId=1146029695717560320, journalId=1244284848500682798, issueId=1244321215637209904, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1244323788452639477, tenantId=1146029695717560320, journalId=1244284848500682798, issueId=1244321215637209904, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=1186, endPage=1192, ext={EN=ArticleExt(id=1244321220775232381, articleId=1244321218850046808, tenantId=1146029695717560320, journalId=1244284848500682798, language=EN, title=Performance Optimization of Biomimetic Flexible Actuators Driven by Multidimensional Structure-Function Coupling Mechanism of Skeletal Muscles, columnId=1244321216404767539, journalTitle=Journal of Medical Biomechanics, columnName=Original Articles, runingTitle=null, highlight=null, articleAbstract=
Objective

The biological characteristics and action mechanisms underlying the excellent performance of skeletal muscles were studied through experiments to provide a scientific basis for the development of flexible actuators with performance comparable to that of skeletal muscles.

Methods

A frog skeletal muscle sample was contracted by applying electrical stimulation, and then tensile load was applied to it to analyze the relationship between the driving properties (such as contraction length and output force) of skeletal muscle and its structure from three aspects: skeletal muscle dimensions, tendon, and epimysium.

Results

The contraction lengths of these skeletal muscle samples were approximately 28.92% and 20% under unloaded conditions and under 50% of their maximum output force, respectively. When the load on the skeletal muscles did not exceed 20% of their maximum output force, they also exhibited the property of rapid reduction (approximately 1.25 s). The active tendon increased contraction by approximately 19.68% compared with the inactive tendon, and the integrity of the epimysium protected the force transfer efficiency of skeletal muscles.

Conclusions

By simulating the structural and biomechanical properties of skeletal muscles, flexible actuators can achieve better driving performance, thus greatly promoting the development of bionic robots.

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目的

通过实验研究骨骼肌优异性能背后的生物和作用机制，为开发性能比肩骨骼肌的柔性驱动器提供科学依据。

方法

通过对青蛙骨骼肌制成的实验样品施加电刺激作用引起收缩，然后对其施加拉伸载荷进行测试，从骨骼肌尺寸、肌腱和肌外膜3个方面分析骨骼肌收缩长度和输出力等驱动性能与其结构之间的关系。

结果

骨骼肌样品在无负载和承受50%自身最大输出力负载时的收缩长度分别约为28.92%和20%，而且当骨骼肌所受负载不大于其最大输出力的20%时，它还具有快速复位（约1.25 s）的特性；对比无活性的肌腱，有活性肌腱可以提高约19.68%的收缩量；肌外膜的完整性也可以很好保护骨骼肌的力传递效率。

结论

通过模仿骨骼肌的结构和生物力学特性，柔性驱动器可以具有更好的驱动性能，这将极大地促进仿生机器人的发展。

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李涛，副教授，E-mail：
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作者贡献声明：

张帆负责修改研究思路、论文撰写、实验数据获取和分析；沈杰负责研究方案设计和实验数据获取；姜官武负责提出研究思路和研究方案设计；白克强负责提出研究思路和实验数据分析；李涛负责材料支持、论文审阅与修订和提出研究思路。

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Contraction and output force of skeletal muscles of five different lengths

, figureFileSmall=null, figureFileBig=null, tableContent=
序号 l/mmΔl/mm F/N
13911.559.0
24011.829.6
34212.1011.0
44312.3014.0
54512.6015.1
均值41.8012.0711.74
标准差2.1350.3652.410
), ArticleFig(id=1244321230996750911, tenantId=1146029695717560320, journalId=1244284848500682798, articleId=1244321218850046808, language=CN, label=表1, caption=

不同长度骨骼肌的收缩量和输出力

, figureFileSmall=null, figureFileBig=null, tableContent=
序号 l/mmΔl/mm F/N
13911.559.0
24011.829.6
34212.1011.0
44312.3014.0
54512.6015.1
均值41.8012.0711.74
标准差2.1350.3652.410
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Difference in contraction length with and without tendon for samples with different original length

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421.684.0019.70
431.713.7819.62
451.753.8916.95
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不同原始长度样品有肌腱和无肌腱的收缩长度差异

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421.684.0019.70
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骨骼肌多维结构-功能耦合机制驱动的仿生柔性驱动器性能优化
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张帆 1 , 沈杰 1 , 姜官武 2 , 白克强 2 , 李涛 1
医用生物力学 | 论著 2025,40(5): 1186-1192
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医用生物力学 | 论著 2025, 40(5): 1186-1192
骨骼肌多维结构-功能耦合机制驱动的仿生柔性驱动器性能优化
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张帆1, 沈杰1, 姜官武2, 白克强2, 李涛1
作者信息
  • 1.常州大学　机械与轨道交通学院，江苏　常州　213164
  • 2.西南科技大学　信息工程学院，四川　绵阳　621010

通讯作者:

李涛，副教授，E-mail：
Performance Optimization of Biomimetic Flexible Actuators Driven by Multidimensional Structure-Function Coupling Mechanism of Skeletal Muscles
Fan ZHANG1, Jie SHEN1, Guanwu JIANG2, Keqiang BAI2, Tao LI1
Affiliations
  • 1.School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou 213164, Jiangsu, China
  • 2.School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan, China
出版时间: 2025-10-01 doi: 10.16156/j.1004-7220.2025.05.014
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摘要
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目的

通过实验研究骨骼肌优异性能背后的生物和作用机制，为开发性能比肩骨骼肌的柔性驱动器提供科学依据。

方法

通过对青蛙骨骼肌制成的实验样品施加电刺激作用引起收缩，然后对其施加拉伸载荷进行测试，从骨骼肌尺寸、肌腱和肌外膜3个方面分析骨骼肌收缩长度和输出力等驱动性能与其结构之间的关系。

结果

骨骼肌样品在无负载和承受50%自身最大输出力负载时的收缩长度分别约为28.92%和20%，而且当骨骼肌所受负载不大于其最大输出力的20%时，它还具有快速复位（约1.25 s）的特性；对比无活性的肌腱，有活性肌腱可以提高约19.68%的收缩量；肌外膜的完整性也可以很好保护骨骼肌的力传递效率。

结论

通过模仿骨骼肌的结构和生物力学特性，柔性驱动器可以具有更好的驱动性能，这将极大地促进仿生机器人的发展。

人工肌肉  /  柔性驱动器  /  骨骼肌  /  仿生机器人  /  生物力学
Objective

The biological characteristics and action mechanisms underlying the excellent performance of skeletal muscles were studied through experiments to provide a scientific basis for the development of flexible actuators with performance comparable to that of skeletal muscles.

Methods

A frog skeletal muscle sample was contracted by applying electrical stimulation, and then tensile load was applied to it to analyze the relationship between the driving properties (such as contraction length and output force) of skeletal muscle and its structure from three aspects: skeletal muscle dimensions, tendon, and epimysium.

Results

The contraction lengths of these skeletal muscle samples were approximately 28.92% and 20% under unloaded conditions and under 50% of their maximum output force, respectively. When the load on the skeletal muscles did not exceed 20% of their maximum output force, they also exhibited the property of rapid reduction (approximately 1.25 s). The active tendon increased contraction by approximately 19.68% compared with the inactive tendon, and the integrity of the epimysium protected the force transfer efficiency of skeletal muscles.

Conclusions

By simulating the structural and biomechanical properties of skeletal muscles, flexible actuators can achieve better driving performance, thus greatly promoting the development of bionic robots.

artificial muscles  /  flexible actuator  /  skeletal muscle  /  bionic robot  /  biomechanics
张帆, 沈杰, 姜官武, 白克强, 李涛. 骨骼肌多维结构-功能耦合机制驱动的仿生柔性驱动器性能优化. 医用生物力学, 2025 , 40 (5) : 1186 -1192 . DOI: 10.16156/j.1004-7220.2025.05.014
Fan ZHANG, Jie SHEN, Guanwu JIANG, Keqiang BAI, Tao LI. Performance Optimization of Biomimetic Flexible Actuators Driven by Multidimensional Structure-Function Coupling Mechanism of Skeletal Muscles[J]. Journal of Medical Biomechanics, 2025 , 40 (5) : 1186 -1192 . DOI: 10.16156/j.1004-7220.2025.05.014
正文
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仿生机器人主要通过仿生学原理，开发出与自然生物体有着相似结构和功能的机器人，并应用于工业生产制造、辅助医疗、环境安全监控等领域[1]。其中，人工肌肉被称为柔性驱动器，其具有独特的特性[2-3]，包括尺寸紧凑、质量轻、柔性强以及通过其固有的力学特性及形态变化实现驱动传动一体化。
目前，对骨骼肌的研究涉及多个领域，包括肌肉生理学、生物力学、组织工程学和影像学。王沫楠等[4]建立骨骼肌的整体微结构的代表性体积单元模型，提出新的生物力学建模使骨骼肌的剪切行为从材料属性层面得以体现。罗林聪等[5]通过AnyBody骨骼肌肉多体动力学分析，实现了肘关节屈曲运动过程中肱骨应力、位移的一个连续动态的分析。周泽世等[6]提出的人机耦合模型可有效计算人与外骨骼交互力，为外骨骼结构优化与控制算法的验证与迭代，以及外骨骼助行助力功效的性能评估提供理论依据。Kry'sciak等[7]对大鼠腓肠肌能够快速运动的性能进行深入分析。综上所述，现阶段关于骨骼肌的研究大部分都基于骨骼肌的生物力学模型进行分析，通过骨骼肌生物力学实验以验证结果的研究鲜有报道。
骨骼肌结构的研究主要涉及肌肉尺寸、肌腱和肌外膜。对于尺寸，目前已经能够通过超声波成像[8]、磁共振成像[9]等技术，对骨骼肌的尺寸进行评估。张强等[10]通过超快超声图像技术对踝关节肌肉收缩力进行研究。关于肌腱的研究集中在肌腱的机械性能和生物适用性[11]，肌腱将肌肉与骨骼连接从而传递力量。研究表明，肌腱的结构特征（如胶原纤维的排列和密度）与其承载能力和弹性密切相关[12]。对肌腱损伤机制的研究也逐渐深入，为运动员的训练和康复提供了新视角[13]。肌外膜的健康对于肌纤维的发育和功能至关重要。肌外膜损伤可能导致肌肉功能障碍，且与多种肌肉疾病（如肌营养不良症）相关[14]。
然而，上述研究主要是从生物健康和康复的角度进行，很难为柔性驱动器的研究提供指导。本文从仿生机器人和人工肌肉研究的角度，从骨骼肌尺寸、肌腱和肌外膜3个方面，揭示骨骼肌优异性能和其结构机理间的关系。
1　实验设计与装置
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骨骼肌的结构呈多层级的特点，对骨骼肌的高性能起着关键作用。为从结构和功能角度深入解剖骨骼肌的尺寸、肌腱和肌外膜，分析骨骼肌的主要性能指标和特点，本文设计并进行3组实验。
第1组实验从尺寸角度选取不同初始长度的骨骼肌，比较其收缩量和输出力的差异，以及这些骨骼肌在不同载荷下的收缩情况。第2组实验比较肌腱在是否失去活性的情况下，骨骼肌收缩量和输出力之间的关系。第3组实验比较肌外膜完整和断裂时骨骼肌长度的变化。
设计并构建了骨骼肌性能测试实验装置（见图1）。试验台主要由力传感器、数显仪、负载、激光位移传感器、位移传感系统[15]和可调电源等组成。力传感器和数字显示仪可用于测量骨骼肌的输出力。激光位移传感器和调试系统可以记录骨骼肌收缩的变化。可调电源用于向骨骼肌施加一定量的电压，使其收缩。为了找到能够让骨骼肌收缩合适的电压，先对骨骼肌进行了电刺激实验。实验以单次接触的方式从1 V开始逐步增加电压，每次增加1 V直至骨骼肌多次没有出现收缩力增强为止。实验测试了1~16 V电压下骨骼肌的输出力变化情况，发现骨骼肌在2 V电压时开始出现收缩，在8 V电压时达到最大输出力，8~16 V电压下输出力基本平稳，骨骼肌的收缩强度基本不变。后续以连续方式对骨骼肌进行电刺激发现难以稳定输出力，故选择16 V电压单次接触作为后续实验的电源参数。
本文选择青蛙骨骼肌作为人体骨骼肌的实验替代样本，主要依据如下：①青蛙骨骼肌与人类在肌肉类型、结构和生物力学特性方面具有高度相似性[16]；②青蛙样本易于获取，其肌肉组织便于分离和操作，有利于在实验室中精确控制条件，例如测量不同拉伸状态下的力学响应；③从伦理与法律角度而言，青蛙的使用通常受到相对宽松的规范约束，更易于符合动物实验的相关法规要求。
在第1组实验中，测量了5种不同原始长度的骨骼肌样本[见图2（a）]在电刺激下的长度收缩量与输出力。此外，还研究了不同负载对骨骼肌收缩行为的影响。实验中，通过在金属板上施加适当的负载，并在电刺激前后分别记录传感器的读数，以计算收缩量的变化。随后更换不同负载重复上述过程，以测试不同载荷下骨骼肌长度的收缩量。
在第2组实验中，使用了4组长度不同、分别具有活性肌腱与无活性肌腱的样本[见图2（b）]。首先，对每组样本进行两次电刺激收缩测试，测量其收缩量和输出力。随后，通过化学方法对这些骨骼肌的肌腱进行失活处理，具体采用高浓度乙醇（>70%）浸泡2 h以上[15]，之后用生理盐水清洗。待处理后，再次在不同负载下重复电刺激测试，测量相应的收缩量与输出力。
第3组实验中，选取了5只体长不同的青蛙，并分别从其左右小腿各取一块腓肠肌作为样本，共获得10个样本，依次编号为F1-L（青蛙1左腿）、F1-R（青蛙1右腿），直至F5-L、F5-R。首先，对每个样本施加5 N的拉力进行拉伸测试。随后，将F1-L~F5-L样本的肌外膜纵向均分为两等份以模拟结构破坏，并再次测试其长度变化。接下来，将同一组样本的肌外膜进一步纵向均分为四等份，重复测量长度变化（见图3）。对第2组样本（F1-R~F5-R）进行相同的操作，记录其在不同处理阶段的拉伸长度变化。
2　实验结果及分析
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2.1　骨骼肌尺寸与性能关系的实验分析
骨骼肌的尺寸直接影响其输出力与输出功率。通常而言，尺寸较大的骨骼肌能够产生更大的输出力。为深入探究该关系，从小腿解剖获取了5只体长不同青蛙的腓肠肌标本，其长度分别为39、40、42、43、45 mm，平均长度为41.8 mm。在初始负载为40 g的条件下，对这些样本进行电刺激收缩实验。实验结果表明，尽管样本初始长度存在差异，其收缩量较为接近，约占自身初始长度的28.92%（见表1）。根据样本所产生的最大输出力，可进一步推算骨骼肌所能承受的最大载荷，该结果将用于后续实验设计。
为研究不同长度骨骼肌收缩量的变化，对样本施加了一系列负载。为减少肌肉活动与肌肉疲劳所带来的误差，将平均输出力的50%设定为最大负载值。在此基础上，分别选取50、100、200、300、400、500 g共6个负载水平，以观察骨骼肌在不同负载下的收缩响应。
在不同负载条件下，各样本的收缩情况表明，骨骼肌的收缩长度随负载增大而逐渐减小。无负载时，收缩长度约占骨骼肌初始长度的30%；而当负载增至500 g（约为该类骨骼肌最大负载值的50%）时，其收缩长度仍可维持在初始长度的20%以上。在较低负载下（50~150 g），各样品的收缩长度差异较小；随着负荷进一步增加，不同样本间的收缩长度差异趋于显著[见图4（a）]。上述负载-收缩关系显示，骨骼肌可通过长度变化有效调节关节运动的范围与幅度。
通过观察不同负载下骨骼肌样本的收缩行为，可发现其收缩模式具备自我调节能力。利用激光位移传感器记录骨骼肌在舒张与恢复过程中的长度变化，并获取了时间-位移关系曲线[见图4（b）]。实验结果表明，当张力不超过200 g时，恢复所需时间约为1.25 s；而当张力达到300 g及以上时，恢复时间显著延长。从骨骼肌纤维内部结构来看，这一现象与收缩过程中横桥的形成及所产生拉力密切相关。拉力越大，肌肉紧张度越高，舒张阻力也相应增大。在电刺激撤除后，骨骼肌开始舒张，但若肌肉此前处于高度拉伸状态，肌肉纤维需克服更大张力才能恢复原长。骨骼肌这种快速复位特性在一定条件下仍可保持，该机制为柔性驱动器的设计提供了灵感。
在骨骼肌尺寸的研究中，实验选取了5种不同长度的骨骼肌，测量了它们的最大收缩长度和最大输出力。通过对比实验数据，得到了每种骨骼肌收缩长度与其原始长度之间的关系。此外，研究还发现，在撤除电刺激后，骨骼肌在不同初始张力下的舒张过程表现出非线性特征。
2.2　肌腱作用与骨骼肌性能的实验分析
为了更好地了解肌腱对骨骼肌收缩的影响，通过实验研究肌腱在有活性和无活性状态下对骨骼肌收缩能力的变化[18]。使用4组不同长度（39、42、43、45 mm）的肌肉样品，测量了肌腱在有无活性状态下对骨骼肌收缩长度变化的影响。结果表明，随着骨骼肌初始长度的增加，有活性肌腱对骨骼肌收缩长度的影响呈增大趋势。通过计算，发现骨骼肌长度的增加量约为其初始长度的4%，且这一变化相对稳定。因此，肌腱对骨骼肌收缩量的影响在不同肌肉长度下较为一致，表明肌腱能够提供稳定且有效的力传递机制。相比无活性肌腱的骨骼肌，有活性肌腱能够使骨骼肌收缩长度提高约为20%，这可以极大增加骨骼肌的力传递效率[见表2、图5（a）]。本文认为，与无活性肌腱相比，有活性肌腱能显著增加骨骼肌的收缩长度，验证了骨骼肌的肌腱在肌肉收缩过程中起着重要作用。
除收缩长度外，输出力也是骨骼肌的一项关键性能指标。通过对比有无肌腱辅助时不同长度骨骼肌在电刺激下的输出力，发现有肌腱辅助样本的输出力显著更高。肌腱可为骨骼肌提供10%~20%的输出力提升，表明其具有优异的力传递功能。
通过对比不同长度下有无肌腱辅助的骨骼肌在收缩长度与输出力方面的表现，可以发现有肌腱辅助的骨骼肌表现出更优的力学性能。肌腱凭借其弹性，能够在肌肉收缩过程中储存并释放弹性势能，从而使肌肉获得更大的收缩长度。同时，该机制还有助于骨骼肌在不同初始长度下更有效地适应并维持较大的收缩幅度。
2.3　肌外膜与骨骼肌性能关系的实验分析
骨骼肌的外膜是一种包裹在整个肌肉纤维束外层的结缔组织[19]，这一结构确保了肌纤维的整体结构与一致性。肌腱与肌外膜共同将肌肉组织包裹于连续的薄膜中，形成一个结构完整的力学单元，不仅有助于维持肌肉的整体形态，也保障了其功能的协调性。同时，肌外膜为肌肉提供支撑，能够限制其过度膨胀和变形，并抵御外部压力或创伤所造成的损伤。肌外膜的结构完整性对骨骼肌的性能具有关键影响。Garcia-Pelagio等[20]研究表明，肌外膜如受损或不完整，会削弱骨骼肌的结构完整性，从而降低力的传递效率。
第3组实验结果显示，无论切割深度为1/2或1/4，横向切割对骨骼肌功能的影响均显著大于纵向切割（见图6）。当骨骼肌在相同负载下的长度变化越大时，其能够承受的最大负载就越小，表明组织更易受损。由此可见，肌外膜对维持骨骼肌结构完整性具有保护作用，有助于在收缩过程中更有效地传递力，从而提高整体力量输出。一旦肌外膜受损，将引起肌肉结构失稳。相较于横向切割，纵向切割对骨骼肌的影响相对较小；而横向切割会导致骨骼肌受力极不稳定，波动明显，严重破坏其拉伸功能与肌肉协调性。因此，肌外膜的健康状态与结构完整性对骨骼肌的整体结构及功能具有重要作用。
3　讨论
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本文从仿生机器人与人工肌肉的应用视角出发，系统分析了骨骼肌的结构与功能，重点从尺寸特征、肌腱及肌外膜等方面对其多层次构造和功能关系进行了剖析与总结。通过解剖实验，进一步详细研究了骨骼肌的形态与组织结构，验证了其具备卓越的驱动性能。
实验结果表明，青蛙骨骼肌在电刺激作用下的收缩量约为12 mm，输出力可达9~15 N；且骨骼肌的初始长度越长，其收缩长度相应增加，输出力也随之增强。同时，在不同负载下，骨骼肌还展现出自我调整收缩模式的特性。当所受负载不超过自身最大输出力的20%时，能够快速恢复至初始状态。这一特性为柔性驱动器的设计提供了参考。通过对比肌腱有活性和无活性状态下对骨骼肌的辅助效果发现，肌腱可使骨骼肌的收缩长度提升约20%，输出力提升10%~20%。但本文未考虑肌腱长度等参数，可能对实验结果产生一定影响。在肌外膜损伤实验中可见，纵向和横向两种切割方式均会在一定程度上影响骨骼肌性能。相较于纵向切割，横向切割对骨骼肌拉伸功能及肌肉协调性的负面影响更为显著。由此可见，肌外膜的健康状态与结构完整性，对维持骨骼肌整体结构和功能具有重要作用。需说明的是，本实验仅探究了横切与纵切两种切割方式对骨骼肌的影响；至于其他特殊切割方式对骨骼肌的作用机制，仍需在后续研究中进一步验证。
4　结论
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本文通过对骨骼肌结构与功能的系统性研究，为深入探索骨骼肌运动学和动力学的奠定基础。基于对肌肉结构和功能的深刻理解，柔性驱动器的研发能朝着更高效、更灵活、更耐用的方向发展，从而极大地推动仿生机器人的进步。未来的柔性驱动器不仅要具备力输出功能，还应能够根据外部环境或内部需求进行自我调整，并借助人工智能学习与模拟骨骼肌的活动模式，以实现柔性假肢、外骨骼机器人等复杂装置的精细化操作。此外，对骨骼肌结构和功能的深入研究，有助于更准确地理解肌肉如何以生物力学方式执行各种运动。通过模仿骨骼肌的结构和机制，柔性驱动器有可能替代骨骼肌功能，与生物肌肉配合，进而促进骨骼肌的再生与功能恢复。
基金
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  • 江苏省科技项目产业前瞻与关键核心技术重点项目课题(BE2021016-4)
  • 特殊环境机器人技术四川省重点实验室科研项目(21kftk02)
  • 常州市领军型创新人才引进培育项目(CQ20210115)
  • 江苏省研究生科研与实践创新计划项目(KYCX24_3222)
文献
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doi: 10.16156/j.1004-7220.2025.05.014
  • 接收时间：2025-01-02
  • 首发时间：2026-03-27
  • 出版时间：2025-10-01
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  • 收稿日期：2025-01-02
  • 修回日期：2025-02-24
基金
江苏省科技项目产业前瞻与关键核心技术重点项目课题(BE2021016-4)
特殊环境机器人技术四川省重点实验室科研项目(21kftk02)
常州市领军型创新人才引进培育项目(CQ20210115)
江苏省研究生科研与实践创新计划项目(KYCX24_3222)
作者信息
    1.常州大学　机械与轨道交通学院，江苏　常州　213164
    2.西南科技大学　信息工程学院，四川　绵阳　621010

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2种不同金属材料的力学参数
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Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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