压觉-滑觉-粗糙度多模态指尖触觉刺激装置研究

陈敬; 李敏; 何国璎; 张超宙

doi:10.7652/xjtuxb202401017

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压觉-滑觉-粗糙度多模态指尖触觉刺激装置研究

更新时间：2025-05-13

- 压觉-滑觉-粗糙度多模态指尖触觉刺激装置研究
- A Fingertip Tactile Feedback Device with Pressure-Slip-Roughness Multimodal Stimulations
- 西安交通大学学报 2024年58卷第1期页码：178-186
- 作者机构：
  
  1. 西安交通大学机械工程学院,西安,710049
  2. 西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
  
  : 2023-03-10。作者简介: 陈敬(1997—),男,硕士生
  李敏(通信作者),女,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(51975451)。
- 基金信息：
  
  : 2023-03-10。作者简介: 陈敬(1997—),男,硕士生;李敏(通信作者),女,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(51975451)。
- DOI：10.7652/xjtuxb202401017
  中图分类号： TP203
- 网络首发：2024-01-10，
  
  纸质出版：2024
- 稿件说明：
移动端阅览
陈敬, 李敏, 何国璎, 等. 压觉-滑觉-粗糙度多模态指尖触觉刺激装置研究[J]. 西安交通大学学报, 2024,58(1):178-186.

CHEN Jing, LI Min, HE Guoying, et al. A Fingertip Tactile Feedback Device with Pressure-Slip-Roughness Multimodal Stimulations[J]. 2024, 58(1): 178-186.
陈敬, 李敏, 何国璎, 等. 压觉-滑觉-粗糙度多模态指尖触觉刺激装置研究[J]. 西安交通大学学报, 2024,58(1):178-186. DOI： 10.7652/xjtuxb202401017.

CHEN Jing, LI Min, HE Guoying, et al. A Fingertip Tactile Feedback Device with Pressure-Slip-Roughness Multimodal Stimulations[J]. 2024, 58(1): 178-186. DOI： 10.7652/xjtuxb202401017.

摘要

为解决手康复训练中指尖触觉刺激装置刺激形式单一、体积与质量过大、刺激效果不佳的问题

提出了一种压觉-滑觉-粗糙度多模态指尖触觉刺激装置。首先

分析人体指尖曲面特征

设计多接触面的气动压觉反馈装置

包括中央、指尖、两侧共计4个气室; 然后

设计电极阵列模块

采用电刺激实现滑觉、粗糙度的反馈

建立人体阻抗模型确定供电电压等电刺激参数

并通过仿真验证; 最后

采用柔性材料分别打印制作气动压觉执行器和电极阵列

集成的触觉反馈装置质量为14.8 g

尺寸为40 mm长、30 mm宽。实验结果表明

气动压觉反馈装置的线性度较高、迟滞小

单腔力反馈最大为12 N; 电刺激装置的粗糙度识别准确率达到100%

滑觉粗糙识别率超过80%。设计的装置可以同时提供给用户指尖精确的压觉、滑觉以及粗糙度的触觉反馈

并且质量轻、体积小、反馈力大

对多模态触觉反馈装置具有一定的参考价值

有应用于脑卒中患者康复训练的潜力。

Abstract

This study presents a novel solution to address the limitations in hand rehabilitation training

namely stimulation forms

excessive size and weight

and poor stimulation effectiveness

where a multi-modal tactile stimulation device for fingertip feedback

incorporating pressure

sliding

and roughness sensations

is proposed. The approach involves analyzing the surface characteristics of the human fingertip to design a pneumatic pressure feedback device with multiple contact points. This device comprises a central chamber

fingertip chamber

and two side chambers

totaling four air chambers. Additionally

an electrode array module is designed to provide electrical stimulation for sliding and roughness feedback

and a human impedance model is established to determine electrical stimulation parameters

such as supply voltage

which is validated through simulations. Finally

flexible materials are used to separately 3D print the pneumatic pressure actuator and electrode array

resulting in an integrated tactile feedback device measuring 40 mm in length

30 mm in width

and weighing 14.8 grams. Experimental results demonstrate that the pneumatic pressure feedback device exhibits high linearity and minimal hysteresis

providing a maximum single-chamber force feedback of 12 N. The electrical stimulation device achieves a 100% accuracy in roughness recognition

with sliding and roughness recognition rates surpassing 80%. The device designed offers precise tactile feedback for pressure

sliding

and roughness sensations simultaneously at the fingertips. Its compact and lightweight design

coupled with strong feedback capabilities

make it highly suitable for multi-modal tactile feedback devices and potential applications in the rehabilitation training of stroke patients.

关键词

Keywords

references

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