基于电触觉刺激的感知反馈系统研究

发布时间：2018-03-20 15:33

本文选题：电触觉刺激　切入点：电刺激器　出处：《上海交通大学》2015年硕士论文　论文类型：学位论文

【摘要】：目前,商用肌电假肢采用的基本都是开环控制框架,普遍缺乏触觉反馈,从而导致受试者低的参与度和高的任务负荷。为解决上述问题,国内外相关研究已经对多种触觉感知反馈方法(侵入式的神经电刺激、其他非侵入式的替代方法)进行了深入的探究。本文主要是以经皮电刺激为触觉感知复现方法,探究了以下三个科学问题并获得了相应的结论。首先,通过探究电触觉反馈位置(躯体特定区域反馈与躯体非特定区域反馈)及通道数对感知识别率(类型、强度、位置)的影响,发现躯体特定区域反馈的反馈识别率要显著的优于躯体非特定区域反馈,特别是对位置信息的识别。并且在丰富的感知信息和较高的识别效果之间取得了平衡。依据上述结果,为不同的截肢患者,提供了最优的触觉反馈方案;其次,通过探究受试者对物体抓取相关属性(物体平衡力和刚度)的识别,获取了受试者对两种属性的识别率,证实了在肌电假肢中使用电触觉反馈的可行性;最后,通过探究触觉反馈类型对抓取力控制的影响,发现滑觉反馈的效果要优于压力反馈,并且压力滑觉反馈具有视觉反馈类似的表现。为了完成上述科学问题的探究,本文还基于对人体皮肤模型的分析,设计了多通道电刺激器设备;基于实际的抓取模型,搭建了适用于肌电假肢手的电触觉感知反馈平台。
[Abstract]:At present, the commercial myoelectric prostheses are basically open-loop control framework, generally lack of tactile feedback, resulting in low participation and high task load. Various tactile sensory feedback methods (invasive neuroelectric stimulation, other non-invasive alternative methods) have been deeply explored at home and abroad. The following three scientific problems are explored and the corresponding conclusions are obtained. Firstly, by exploring the position of electrotactile feedback (somatic specific region feedback and somatic non-specific region feedback) and the recognition rate of channel pairs (type, intensity), It was found that the feedback recognition rate of somatic specific region feedback was significantly better than that of somatic non-specific region feedback. In particular, the recognition of position information is balanced between rich perceptual information and high recognition effect. Based on the above results, the optimal tactile feedback scheme is provided for different amputation patients. Secondly, By exploring the recognition of object grasping related attributes (balance force and stiffness of object), the recognition rate of the two attributes is obtained, which proves the feasibility of electrotactile feedback in myoelectric prosthesis. By exploring the effect of tactile feedback type on grip force control, it is found that the effect of slide feedback is better than that of pressure feedback, and pressure slip feedback has similar performance of visual feedback. Based on the analysis of human skin model, a multi-channel electric stimulator is designed, and an electrotactile feedback platform for myoelectric prosthetic hand is built based on the actual grab model.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R318.17

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