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

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。

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.