电触觉的皮肤神经机理仿真及实验验证

发布时间：2018-09-11 09:29

【摘要】：触觉学已经在很多领域得到应用,如遥控机器人、手术机器人、假肢、娱乐交互界面以及虚拟现实技术等,以此来增强人对机器或者虚拟物体的操作性。电触觉是现在主要的触觉再现措施,即通过改变恒流/恒压电脉冲的频率、脉宽、强度以及脉冲方向等因素,让人产生不同的触觉感。首先通过人体皮肤神经的建模推导出激励函数,并进行仿真研究,通过改变施加在电刺激阵列的电脉冲方向和强度,设计能分别刺激皮下3种刺激感受器(Meissner触觉小体、Merkel触盘、Pancinian环层小体)的实验范式,同时进行了心理物理学实验。10位受试者参加了实验,对食指进行电触觉刺激。正脉冲时采用不同频率(10、30、70、90 Hz)的电脉冲进行刺激,让受试者产生不同级别的振动感;负脉冲时采用不同脉宽(150、200、250、300μs)的电脉冲进行刺激,让受试者产生不同级别的压力感。受试者对振动和压力的感觉强度进行主观判断。统计结果表明,该模型下的实验模式能够使触觉强度分级平均识别率高达80%以上,同时可通过对刺激电极分布以及电流大小的分析,找到最佳的刺激模式,保证最佳的触觉再现。
[Abstract]:Tactile technology has been applied in many fields, such as remote control robot, surgical robot, prosthesis, entertainment interactive interface and virtual reality technology, to enhance the maneuverability of human to machine or virtual object. Electric tactile is the main tactile reappearance measure, that is, by changing the frequency, pulse width, intensity and pulse direction of constant current / constant voltage electric pulse, different tactile sense is produced. First of all, the excitation function is derived from the modeling of human skin nerve, and the simulation is carried out. By changing the direction and intensity of the electric pulse applied to the electric stimulation array, Three experimental paradigms were designed to stimulate subcutaneously three stimulators (Meissner tactile corpuscles, Pancinian annular bodies), and 10 subjects took part in the psychophysical experiment, and electrotactile stimulation was performed on the forefinger. The positive pulse was stimulated with different frequency (10: 30) electric pulse for 90 Hz, and the negative pulse was stimulated with different pulse width (150 200 250 300 渭 s) to produce different levels of pressure. The subjects made subjective judgments on the sensory intensity of vibration and pressure. The statistical results show that the experimental model can make the average recognition rate of tactile intensity up to more than 80%, and the best stimulation mode can be found by analyzing the distribution of the stimulation electrode and the current size. Ensure the best tactile reappearance.
【作者单位】：上海交通大学机械与动力工程学院;
【基金】：国家重点基础研究发展计划(973计划)(2011CB013305) 国家自然科学基金(51075265)
【分类号】：R318

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