人手柔性触觉感知特性

Characteristics of human fingers' softness haptic perception

提出了一种新颖的基于弹性梁有效变形长度控制的柔性触觉感知再现方法，并研制了柔性触觉感知装置．通过在该柔性触觉装置上进行实验，对人手的柔性触觉感知特性进行了研究，得出一些结论．刚度越大，分辨率越低，随着刚度的增大，相比较的2个物体间需具有更大的刚度差异才能够分辨．当人们触摸物体时，习惯的次数为2～6次，按压频率主要分布在0．3～1．3Hz．实验点的刚度越大越难记忆．连续感知的正确率要明显高于不连续感知的正确率．本实验方法简单有效，得出的实验结论不仅可用来改进触觉再现装置的设计，而且为触觉再现技术的研究提供了生理学依据．

A novel method is proposed to realize the softness display for virtual soft object based on deformable length of elastic element control. A corresponding device was developed and used to study the human fingertip＇s discrimination and remembrance of softness perception. From the experimental results, some conclusions have been obtained. Soft objects are easily to identify than hard ob- jects. The stiffness difference between two just distinguishable hard objects should be greater than the difference between two just distinguishable soft objects for people to identify. When touching objects, people are accustomed to act for 2 to 6 times. For most people, the touch frequency ranges from 0. 3 to 1.3 Hz. It is difficult for people to remember harder objects than softer objects. The percent correct scores for adjacent perception is higher than that of non-adjacent perception. The results are helpful for the process of designing haptic devices.