电刺激和摩擦力控制融合的多模态触觉再现方法研究

发布时间：2018-08-13 12:14

【摘要】：近年来,触觉感知被认为是可以替代或补偿视觉和听觉信息的很有前景的信息传递方式,因而受到了广泛的关注。触觉感知不仅可以帮助盲人或视弱者提供一条获取信息的新渠道,也可以丰富正常人的信息获取方式,提高信息交互的效率。本论文开展了基于电刺激的可穿戴的触觉再现设备和基于电刺激和电致振动摩擦力控制融合的多模态触觉再现系统的研究。首先分析了人类触觉感知的生理基础、电刺激触觉再现的理论基础和电致振动摩擦力控制的触觉再现的理论基础,并分析了电致振动效应中静电力的影响因素,提出了电刺激和摩擦力控制融合的触觉再现方法。在理论分析的基础上,本文设计并研制了基于电刺激的可穿戴的触觉再现设备、基于电刺激和摩擦力控制融合的多模态触觉再现系统。这两种系统主要由触觉面板模块、基于TM4C123微处理器的中央控制模块、电极阵列激励信号控制模块和高压电压源模块构成的,并且设计了两种系统的硬件方案和软件方案。对于基于电刺激的可穿戴的触觉再现设备,本文采用了触觉电极静态显示和触觉电极动态显示的方法并开展了基于电刺激的电压感知阈值实验、激励信号最佳参数实验、空间分辨率实验、简单字符的识别实验和大写英文字母的识别实验。实验结果表明,本系统中简单字符的平均识别成功率在95.2%左右;大写英文字母的平均识别成功率在82.0%左右。实验结果验证了所设计的基于电刺激的可穿戴的触觉再现设备能够成功地实现信息的感知。对于基于电刺激和电致振动摩擦力控制融合的多模态触觉再现系统,本文开展了基于摩擦力控制的电压感知阈值实验、空间分辨率实验、简单字符识别实验、大写英文字母识别实验、复杂字符识别实验、基于电刺激的简单字符识别实验、大写英文字母识别实验、复杂字符识别实验、基于电刺激和电致振动摩擦力控制融合的大写英文字母识别实验和复杂字符识别实验。实验结果表明,本系统中单一电刺激和单一摩擦力控制的简单字符的平均识别成功率都在94.0%左右,触觉感知效果很好;电刺激和电致振动摩擦力控制融合的大写英文字母的平均识别成功率(85.4%)高于单一电刺激(78.3%)和单一摩擦力控制(70.8%);电刺激和摩擦力控制融合的复杂字符的平均识别成功率(89.0%)仍然高于单一电刺激(82.3%)和单一摩擦力控制(70.3%)。实验结果验证了电刺激和电致振动摩擦力控制融合具有更强的触觉感知效果,能够更好的实现信息的感知。本论文开展了基于电刺激的可穿戴的触觉再现设备的研制,研究了人手腕对于电刺激的触觉感知特性;开展了基于电刺激和电致振动摩擦力控制融合的多模态触觉再现系统的研究,研究了人手指对于电刺激、摩擦力控制和两者融合的触觉感知特性。所设计并研制的系统可以很好地实现从外界获取信息的途径,为实现更好的触觉再现效果奠定了基础。
[Abstract]:In recent years, tactile perception has attracted much attention as a promising way to replace or compensate for visual and auditory information. Tactile perception can not only help blind or visually impaired people to provide a new channel for information acquisition, but also enrich the normal way of information acquisition and improve the effectiveness of information interaction. In this paper, a wearable tactile reproduction device based on electrical stimulation and a multi-modal tactile reproduction system based on electrical stimulation and frictional force control fusion are studied. On the basis of theoretical analysis, the influence factors of electrostatic force in electro-vibration effect are analyzed, and the tactile reproduction method of electric stimulation and friction control fusion is proposed. The two systems are mainly composed of the tactile panel module, the central control module based on TM4C123 microprocessor, the electrode array excitation signal control module and the high voltage power supply module, and the hardware and software schemes of the two systems are designed. The method of static display and dynamic display of tactile electrodes is introduced. The voltage sensing threshold experiment based on electrical stimulation is carried out. The best parameters of excitation signal, spatial resolution experiment, simple character recognition experiment and capitalized English letter recognition experiment are carried out. The experimental results show that the wearable tactile reproducing device based on electrical stimulation can successfully realize the perception of information. For the multi-modal tactile reproducing system based on the fusion of electrical stimulation and induced vibration friction control, this paper develops a friction-based multi-modal tactile reproducing system. Voltage perception threshold experiment, spatial resolution experiment, simple character recognition experiment, capitalized English character recognition experiment, complex character recognition experiment, simple character recognition experiment based on electrical stimulation, capitalized English character recognition experiment, complex character recognition experiment, large-scale friction control fusion based on electrical stimulation and induced vibration The experimental results show that the average recognition success rate of simple characters controlled by single electrical stimulation and single friction force is about 94.0%, and the tactile perception effect is very good. The average recognition success rate of upper-case letters fused by electrical stimulation and electro-vibration friction force is 8. 5.4% was higher than single electrical stimulation (78.3%) and single friction control (70.8%). The average recognition success rate of complex characters fused by electrical stimulation and friction control (89.0%) was still higher than single electrical stimulation (82.3%) and single friction control (70.3%). In this paper, the wearable tactile reproduction equipment based on electrical stimulation is developed, and the tactile characteristics of wrists and hands are studied. The research of multi-modal tactile reproduction system based on electrical stimulation and frictional force control fusion is carried out, and the finger is studied. For the tactile perception characteristics of electrical stimulation, friction control and the combination of the two, the designed and developed system can achieve a good way to obtain information from the outside world and lay the foundation for better tactile reproduction effect.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R318

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