人工电触觉反馈对手抓握力的影响

发布时间：2018-01-10 11:02

本文关键词：人工电触觉反馈对手抓握力的影响　出处：《中国康复医学杂志》2016年01期 　论文类型：期刊论文

【摘要】：目的:为了给受试者提供触觉反馈来完成抓取力的闭环控制,提出各种方法和相应的控制策略,以探究触觉反馈对手抓握力的影响,为假肢手的研究提供参考。方法:主要根据动态系统的输出特性提出了四类考察变量(三种失败次数、完成时间、握力的均值和握力的标准差),以及稳定性、快速性和经济性指标,依据上述准则来比较基于经皮电刺激的触觉反馈和无反馈对于控制握力的影响。结果:对于三种失败次数,无反馈模式下的表现均高于触觉反馈模式,尤其是在由摔碎和捏碎引起的失败次数上,无反馈模式下的结果分别为4.3次和4.9次,而电触觉反馈模式下的结果仅为0.6次和0.5次。对于反映时间,无反馈模式下的受试者完成实验的时间为26.4s,而在电触觉反馈模式下,受试者仅用17.7s。在对6个物体的抓取中,电触觉反馈下的握力始终小于无反馈模式下的结果。触觉反馈模式下的等效握力的稳定性要高于无反馈模式下的结果。结论:经皮电刺激的触觉反馈在四类考察变量以及3种目标上均优于无反馈,提示经皮电刺激的触觉反馈对于假肢手握力控制的重要性。随着物体重量的增加,无反馈和经皮电刺激的触觉反馈下抓取力的经济性和稳定性差异逐渐的减小。
[Abstract]:Objective: in order to provide tactile feedback to the subjects to complete the closed-loop control of grip force, various methods and corresponding control strategies were proposed to explore the impact of tactile feedback on the grip of the opponent. Methods: according to the output characteristics of the dynamic system, four kinds of investigation variables (three kinds of failure times, the time of completion, the mean value of grip strength and the standard deviation of grip strength, and stability) were put forward. According to the above criteria, the effects of tactile feedback and non-feedback on grip control were compared based on the above criteria. Results: for three kinds of failures. The performance of non-feedback mode was higher than that of tactile feedback mode, especially in the failure times caused by crushing and crushing. The results of no-feedback mode were 4.3 times and 4.9 times, respectively. The results of electrotactile feedback mode were only 0.6 and 0.5 times. For the response time, the subjects with no feedback mode completed the experiment for 26.4s, while the subjects in the electrotactile feedback mode completed the experiment. The subjects used 17.7 s. To grab six objects. The grip strength of electrotactile feedback is always lower than that of non-feedback mode. The stability of equivalent grip force in tactile feedback mode is higher than that in non-feedback mode. Conclusion:. The tactile feedback of transcutaneous electrical stimulation was superior to that of no feedback in four types of variables and three targets. It is suggested that the importance of tactile feedback of transcutaneous electrical stimulation for the control of hand grip force of prosthetic limb. With the increase of object weight, the difference of economic and stability of grip force between non-feedback and transdermal electric stimulation under tactile feedback is gradually reduced.
【作者单位】：上海交通大学机械与动力工程学院;
【基金】：国家973课题(2011CB13305) 国家自然科学基金(51475292) 上海市自然科学基金支持(14ZR1421300)
【分类号】：R318
【正文快照】： 在日常生活中,人手操作物体的灵活性主要体现在对不同特性物体(如:物体的形状、重量、刚度)的抓取和提升上。人之所以能够灵活地操作物体,主要是由于人体自身的反馈机制(如:触觉、视觉)提供抓取相关的信息,辅助人完成复杂的动作[1]。对于反馈机制而言,其更为具体地反映在人对

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