可提供触觉反馈的虚拟训练环境的设计与验证

Design and Validation of Virtual Training Environment with Tactile Feedback

近年来,越来越多的研究采用虚拟现实技术来训练前臂截肢患者更准确地控制肌电信号(electromyography,EMG),或训练他们使用肌电假肢。与传统训练方法相比,患者在虚拟环境中训练时具有更高的积极性和主动性,从而提高了训练效率;此外,当训练内容因现实条件限制而无法进行时,也可以利用虚拟环境完成。设计并开发了一款可提供触觉反馈的虚拟训练环境软件。与其他类似的工作相比,本文的虚拟训练环境能够通过自主开发的虚拟传感器获得虚拟环境中物体之间的接触力信息。在实验中,受试者凭借接触力信息判断虚拟物体的软硬程度。实验结果验证了虚拟环境提供的触觉反馈的有效性,并显示了它对于重建截肢患者触觉的潜在价值。

Within recent years, an increasing number of researches have leveraged virtual reality （VR） to train upper-limb amputees to control EMG signals more accurately, or to learn how to use EMG-based prostheses. Compared to the conventional methods, patients are more engaged when they are being trained with VR, leading to higher training efficiency ; if training is not available due to limited conditions, it could also be conducted within virtual environment. In this paper, a VR-based software with tactile feedback is developed. Contrasted to previous similar researches, the contact force is obtained through custom-made virtual sensors. In the experiment, the subjects were asked to judge stiffness of virtual objects only with contact force information obtained from virtual sensors. The results validate effectiveness of tactile feedback and show its value for restoring tactile sensation for amputees.