PROBLEM TO BE SOLVED: To provide an artificial skin structure capable of adjusting friction characteristics with high accuracy by using a gel-like substance. When a surface 121 of a lid member 12 comes into contact with an object and pressure is applied to the lid member 12, a gel-like substance 20 is formed in a space formed by a recess 24 on the surface 200 of the gel-like substance 20. The club can escape. Therefore, the repulsive force of the gel-like substance 20 is reduced. As a result, the pressure is appropriately transmitted to the gel-like substance 20 via the lid member 12, and the convex portion 22 of the gel-like substance 20 easily crosses the surface 121 of the lid member 120 through the hole 120 of the lid member 12. Can be inflated. [Selection diagram] Fig. 4【課題】ゲル状物質を用いて摩擦特性を高精度で調節可能な人工表皮構造を提供する。【解決手段】蓋部材１２の表面１２１が対象物体に接触して蓋部材１２に圧力が作用した際に、ゲル状物質２０の表面２００における凹部２４により形成される空間にゲル状物質２０の一部が逃げることができる。このため、ゲル状物質２０の反発力の低下が図られる。これにより、圧力が蓋部材１２を介して適当にゲル状物質２０に伝達され、ゲル状物質２０の凸部２２を蓋部材１２の孔１２０を介して蓋部材１２０の表面１２１を越えて容易に膨出させることができる。【選択図】図４
