CN102805900B - For generation of the electric stimulation of artificial electric touch - Google Patents
For generation of the electric stimulation of artificial electric touch Download PDFInfo
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- CN102805900B CN102805900B CN201210316658.4A CN201210316658A CN102805900B CN 102805900 B CN102805900 B CN 102805900B CN 201210316658 A CN201210316658 A CN 201210316658A CN 102805900 B CN102805900 B CN 102805900B
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Abstract
The invention provides a kind of electric stimulation for generation of human body electric touch, comprise electric stimulation pulse output device and some electrod-arrays, electric stimulation pulse output device receives controlling party instruction input and produces corresponding electric stimulation pulse, it comprises command receiver, controller and electrostimulator, and instruction transformation is digital signal and exports controller to by command receiver; Controller is according to electrode corresponding in the command signal choice electrode array received and the boost pulse characteristic that generation needs is sent to electrostimulator; Electrostimulator exports corresponding electrode in boost pulse to electrod-array according to the boost pulse characteristic received.Electrod-array and finger pulp loss contact skin also export electric stimulation pulse, and the mechanoreceptor in chafe makes it produce neural impulse, and then produce sense of touch.The present invention has stimulus modelity variation, and tactile sense reproduction is true to nature, easy to use, applied widely and safe and effective, the advantage that side effect is little.
Description
Technical field
The present invention relates to field of medical technology, be specifically related to a kind of electric stimulation for generation of artificial electric touch.
Background technology
Sense of touch is the one that the mankind feel.Although than vision and audition, the ratio shared by sense of touch acquisition information is very little, is appreciated that, in the process of human knowledge objective world, sense of touch is found out things to the mankind and served vital effect.Finding out particularly for object texture and texture, sense of touch is almost that unique one finds out means.
In teleoperated vehicle field, operator can obtain more information by sense of touch passage, particularly when the object of crawl unlike material, shape, and can to robotic arm grip force conservative control.When carrying out tele-medicine operation, after introducing artificial sense of touch, operating doctor can have ambient experience more true to nature to remote operation, greatly can improve operation safety, guarantees that operation accurately completes.
Find through scientific research, the generation of human body skin sense of touch is relevant with four classes " mechanoreceptor " in skin, and they are Pacini's corpuscles, Wagner's corpuscles, Merkel's tactile disk and Ruffini's corpuscle respectively.These four kinds of mechanoreceptors are distributed widely in human body skin, the most intensive in finger pulp loss site distribution especially.When they are upset respectively and produce response, people's cognition experiences four kinds of different Baseline tactile.Be similar to the three primary colors in vision, these four kinds of Baseline tactile carry out combining the various real sense of touch that just can form human body and can experience.
Therefore, produce artificial sense of touch, key can produce effective stimulus respectively to four class mechanoreceptors of human body.Conventional stimulation mode adopts physical mechanism to make skin generation deformation, and then produces sense of touch, and principle is simple, but mechanism design is complicated, and volume is comparatively large, is unfavorable for portable, and can not realizes stimulating separately a certain particular category mechanoreceptor.Electricity irritation is then utilize external electrode to pass into micro-electric current in skin, makes mechanoreceptor in skin produce neural impulse, and then produces artificial sense of touch.
Through finding the literature search of prior art, the domestic research to electric touch is also in the starting stage.Chinese Patent Application No. is: the patent of invention of 200810200430.2 discloses a kind of vision based on electricity irritation-sense of touch conversion equipment.The picture that photographic head is taken processes by this device, presents on an array by picture profile, forms the conversion of vision-sense of touch.This electrical stimulation device is equivalent to the chart reader that blind person uses, and pay close attention to the distribution of electrod-array moderate stimulation position, but stimulus modelity is single, being difficult to stimulates respectively to four class mechanoreceptors, can not the physiology sense of touch of true reappearance human body.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of electric stimulation for generation of human body electric touch.The present invention, by providing more meticulous stimulus modelity, makes four class mechanoreceptors in finger skin under galvanism, produces response respectively, thus make human feeling arrive the multiple tactile experience such as finger tip vibration, extruding, twinge.
For achieving the above object, the invention provides a kind of electric stimulation for generation of human body electric touch, comprising electric stimulation pulse output device and some electrod-arrays, wherein,
Electric stimulation pulse output device produces corresponding electric stimulation pulse in order to receive controlling party instruction input, and it comprises further:
Command receiver: in order to the instruction transformation received is digital signal and exports controller to;
Controller: and instruction receptor connects, is sent to electrostimulator in order to also to produce according to electrode corresponding in the command signal choice electrode array received the boost pulse characteristic needed;
Electrostimulator: be connected with controller, in order to export corresponding electrode in boost pulse to electrod-array according to the boost pulse characteristic received;
Electrod-array is connected with electric stimulation pulse output device, and in order to export electric stimulation pulse with finger pulp loss contact skin, the mechanoreceptor in chafe makes it produce neural impulse, and then produces sense of touch.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, it also comprises an electrode patch, and this electrode patch, in order to be affixed on the back of the hand and ground connection, forms the negative pole of electric stimulation pulse input.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, electric touch instruction and electrical stimulation pattern information have corresponding relation;
Corresponding relation is: after the artificial sense of touch instruction of controller analysis, corresponding electrode in choice electrode array, and regulates its input electric stimulation pulse characteristic.Dissimilar mechanoreceptor in finger skin, excite by dissimilar electric stimulation pulse, produce corresponding sense of touch.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, electric touch instruction involving vibrations sense instruction, material texture sense instruction, extruding sense instruction and sense of dragging instruction, corresponding, electrical stimulation pattern comprises four kinds of output modes: stimulate Pacini's corpuscles to produce vibration sense, stimulate Wagner's corpuscles to produce the sense of material texture, stimulate Merkel's tactile disk to produce extruding sense, stimulate Ruffini's corpuscle to produce sense of dragging, be specially:
Stimulate Wagner's corpuscles pattern: choose all electrodes in electrod-array, pass into the anode current of characteristic frequency, dutycycle, waveform;
Stimulate Merkel's tactile disk pattern: choose all electrodes in electrod-array, pass into the cathode current of characteristic frequency, dutycycle, waveform;
Stimulate Pacini's corpuscles pattern: choose electrod-array medial electrode, pass into the cathode current of characteristic frequency, dutycycle, waveform; Remaining lateral electrode, passes into the anode current of characteristic frequency, dutycycle, waveform;
Stimulate Ruffini's corpuscle pattern: two electrodes choosing ad-hoc location, pass into the anode current of characteristic frequency, dutycycle, waveform.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, this electrod-array is made up of the flexible PCB taking polyimides as base material.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, this electrod-array comprises: electrod-array district, fixed area and wire, electrod-array district is arranged on fixed area, it comprises some electrodes, each electrode is connected with electrostimulator by wire, in order to export electric stimulation pulse; Fixed area adopts polyimide flex material substrate, and surface is provided with stickum, is fixed on finger end in order to wrap after electrod-array is bending.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, this electrode surface scribbles inert metal, and protrudes from flexible material surface.
According to the electric stimulation for generation of human body electric touch described in present pre-ferred embodiments, this electrostimulator and controller adopt the Compex Motion II electrostimulator of Switzerland.
Electric stimulation for artificial electric touch provided by the invention, can stimulate respectively to four class mechanoreceptors in human body skin, produces the multiple electric touch such as vibration, extruding, twinge.Type and the intensity of a given sense of touch is inputted by instruction, just can this sense of touch of true reappearance on human body.Further, arrange can regulate stimulus intensity by instruction, reproduction Human Physiology true to nature sense of touch.The present invention both can control separately the sense of touch of single finger, also can stimulate multiple finger simultaneously, produced combination tactile, allowed experimenter have tactile experience more true to nature.Meanwhile, the electrod-array made with flexible PCB, can fit tightly on finger skin, and can be effectively fixing, simplicity of design, light structure, other operations of fingering row of might as well being in the way.The present invention can be widely used in a lot of field, as the sense of touch strengthening etc. of the skin hypopselaphesia that the tactile feedback of teleoperator, tele-medicine operation, touch screen, body sense interactive game and pathological changes or scald cause.
In sum, compared with prior art, the present invention has stimulus modelity variation, and tactile sense reproduction is true to nature, easy to use, flexible operation, applied widely and safe and effective, the advantage that side effect is little.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of the present invention for the electric stimulation of artificial electric touch;
Fig. 2 is the structural representation of the present invention for the electric stimulation of artificial electric touch;
Fig. 3 is the structural representation of the electrod-array of the embodiment of the present invention;
Fig. 4 is the application schematic diagram of the electric stimulation for artificial electric touch.
In figure: 1 is electrod-array district, 2 is fixed area, and 3 is wire, and 4 is electric stimulation pulse output device, and 5 is electrod-array, and 6 is finger, and 7 is ground electrode paster.
Detailed description of the invention
Below in conjunction with accompanying drawing, illustrate the present invention.Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Please refer to Fig. 1 to Fig. 4, a kind of electric stimulation for generation of human body electric touch, comprises electric stimulation pulse output device 4, some electrod-arrays 5 and electrode patch 7.
Electric stimulation pulse output device 4 produces corresponding electric stimulation pulse in order to receive controlling party instruction input, and it comprises further: command receiver, controller and electrostimulator.Command receiver is in order to be digital signal by the instruction transformation received and to export controller to; Controller and instruction receptor connects, and is sent to electrostimulator in order to also to produce according to electrode corresponding in the command signal choice electrode array received the boost pulse characteristic needed; Electrostimulator is connected with controller, in order to export corresponding electrode in boost pulse to electrod-array according to the boost pulse characteristic received.Preferably, electrostimulator and controller adopt the Compex Motion II electrostimulator of Switzerland.
Electrod-array 5 is connected with electric stimulation pulse output device 4, and in order to refer to abdomen contact skin with finger 6 and to export electric stimulation pulse, the mechanoreceptor in chafe makes it produce neural impulse, and then produces sense of touch.Electrode patch 7, in order to be affixed on the back of the hand and ground connection, forms the negative pole of electric stimulation pulse input.
Electric touch instruction and electrical stimulation pattern information have following corresponding relation; After the artificial sense of touch instruction of controller analysis, corresponding electrode in choice electrode array 5, and regulate its input electric stimulation pulse characteristic.Dissimilar mechanoreceptor in finger skin, excite by dissimilar electric stimulation pulse, produce corresponding sense of touch.Concrete, electric touch instruction involving vibrations sense instruction, material texture sense instruction, extruding sense instruction and sense of dragging instruction, corresponding, electrical stimulation pattern comprises four kinds of output modes: stimulate Pacini's corpuscles to produce vibration sense, stimulate Wagner's corpuscles to produce the sense of material texture, stimulate Merkel's tactile disk to produce extruding sense, stimulate Ruffini's corpuscle to produce sense of dragging.Wherein, the concrete electric current of four kinds of output modes exports as follows:
Stimulate Wagner's corpuscles pattern: choose all electrodes in electrod-array, pass into the anode current of first frequency, dutycycle, waveform.
Stimulate Merkel's tactile disk pattern: choose all electrodes in electrod-array, pass into the cathode current of second frequency, dutycycle, waveform.
Stimulate Pacini's corpuscles pattern: choose electrod-array medial electrode, pass into the cathode current of the 3rd frequency, dutycycle, waveform; Remaining lateral electrode, passes into the anode current of characteristic frequency, dutycycle, waveform.
Stimulate Ruffini's corpuscle pattern: two electrodes choosing ad-hoc location, pass into the anode current of the 4th frequency, dutycycle, waveform.
Concrete stimulus intensity can be arranged by instruction and regulate, and is inputted type and the intensity of a given sense of touch by instruction, just can this sense of touch of true reappearance on human body.Further, also can stimulate multiple finger simultaneously, produce combination tactile, allow experimenter have tactile experience more true to nature.
Electrod-array 5 is made up of the flexible PCB taking polyimides as base material, and it can adopt one or more, specifically selects as required.As shown in Figure 3, electrod-array 5 comprises: electrod-array district 1, fixed area 2 and wire 3, and electrod-array district 1 is arranged on fixed area 2, and it comprises some electrodes, and each electrode is connected with electrostimulator, in order to export electric stimulation pulse by wire 3; Fixed area 2 adopts polyimide flex material substrate, and surface is provided with stickum, is fixed on finger end in order to wrap after electrod-array is bending, similar with adhesive bandage principle.Electrode surface scribbles inert metal, and protrudes from flexible material surface.
As shown in Figure 4, below in conjunction with specific embodiment, for the electric touch instruction inputting " forefinger vibration " and " middle finger extruding ", work process of the present invention is described in detail.Work process of the present invention comprises the following steps:
1, command receiver, controller, electrostimulator and electrod-array are connected, wrap after electrod-array is bending and be fixed on finger end, ordinary electrode sheet is affixed on the back of the hand and ground connection, respectively as positive pole and the negative pole of electric stimulation pulse input.
2, input electric touch instruction " forefinger vibration ", after command receiver analyzing and processing, transmit corresponding electrical stimulation pattern information to controller, controller is by analyzing stimulus modelity information to electrostimulator transmission electric stimulation pulse output signal.
3, after electrostimulator receives electric stimulation pulse signal, to the appointment electrode in the electrod-array contacted with forefinger, transmission electric stimulation pulse.
4, the electrode in electrod-array refers to abdomen skin transport electric stimulation pulse to forefinger, makes the mechanoreceptor Pacini's corpuscles in skin be subject to electricity irritation.After Pacini's corpuscles is upset, send the neural impulse of representative vibration sense to brain, human body sensory has vibration sense to forefinger.
5, after stopping electric stimulation pulse input, the Pacini's corpuscles in forefinger is no longer subject to electricity irritation, and forefinger is pallanesthesia.
6, input electric touch instruction " middle finger extruding ", after command receiver analyzing and processing, transmit corresponding electrical stimulation pattern information to controller, controller is by analyzing stimulus modelity information to electrostimulator transmission electric stimulation pulse output signal.
7, after electrostimulator receives electric stimulation pulse signal, to the appointment electrode in the electrod-array contacted with middle finger, transmission electric stimulation pulse.
8, the electrode in electrod-array refers to abdomen skin transport electric stimulation pulse to middle finger, makes the mechanoreceptor Merkel's tactile disk in skin be subject to electricity irritation.After Merkel's tactile disk is upset, send the neural impulse of representative extruding sense to brain, human body sensory has extruding sense to middle finger.
9, after stopping electric stimulation pulse input, the Merkel's tactile disk of middle finger is no longer subject to electricity irritation, and middle finger extruding sense disappears.
The present invention is by specific electrical stimulation pattern, the mechanoreceptor of specifying in finger is accurately stimulated, produce the multiple electric touch such as vibration, extruding, twinge, both the sense of touch of single finger can have been controlled separately, also can stimulate multiple finger simultaneously, produce combination tactile, allow experimenter have tactile experience more true to nature.Native system is easy to use, regulates simple and easy, safe and effective, and the side effect caused human body is little.
The above, it is only better embodiment of the present invention, not any pro forma restriction is done to the present invention, any content not departing from technical solution of the present invention, the any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all belong to the scope of technical solution of the present invention.
Claims (3)
1. for generation of an electric stimulation for human body electric touch, it is characterized in that, comprise electric stimulation pulse output device and some electrod-arrays, wherein,
Described electric stimulation pulse output device produces corresponding electric stimulation pulse in order to receive controlling party instruction input, and it comprises further:
Command receiver: in order to the instruction transformation received is digital signal and exports controller to;
Controller: be connected with described command receiver, in order to be sent to electrostimulator according to the boost pulse characteristic of electrode corresponding in the command signal choice electrode array received generation needs; And,
Electrostimulator: be connected with described controller, in order to export corresponding electrode in boost pulse to electrod-array according to the boost pulse characteristic received;
Described electrod-array is connected with described electric stimulation pulse output device, and in order to export electric stimulation pulse with finger pulp loss contact skin, the mechanoreceptor in chafe makes it produce neural impulse, and then produces sense of touch;
Described electric touch instruction and electrical stimulation pattern information have corresponding relation, and described corresponding relation is: after the artificial sense of touch instruction of controller analysis, corresponding electrode in choice electrode array, and regulate its input electric stimulation pulse characteristic; Dissimilar mechanoreceptor in finger skin, excite by dissimilar electric stimulation pulse, produce corresponding sense of touch; Described electrod-array is made up of the flexible PCB taking polyimides as base material; And described electrod-array comprises: electrod-array district, fixed area and wire, described electrod-array district is arranged on described fixed area, described electrod-array district comprises some electrodes, and each described electrode is connected with described electrostimulator, in order to export electric stimulation pulse by described wire; Described fixed area adopts polyimide flex material substrate, and surface is provided with stickum, is fixed on finger end in order to wrap after electrod-array is bending;
Described electric touch instruction involving vibrations sense instruction, material texture sense instruction, extruding sense instruction and sense of dragging instruction, corresponding, electrical stimulation pattern comprises four kinds of output modes: stimulate Pacini's corpuscles to produce vibration sense, stimulate Wagner's corpuscles to produce the sense of material texture, stimulate Merkel's tactile disk to produce extruding sense, stimulate Ruffini's corpuscle to produce sense of dragging, be specially:
Stimulate Wagner's corpuscles pattern: choose all electrodes in electrod-array, pass into the anode current of first frequency, dutycycle, waveform;
Stimulate Merkel's tactile disk pattern: choose all electrodes in electrod-array, pass into the cathode current of second frequency, dutycycle, waveform;
Stimulate Pacini's corpuscles pattern: choose electrod-array medial electrode, pass into the cathode current of the 3rd frequency, dutycycle, waveform; Remaining lateral electrode, passes into the anode current of characteristic frequency, dutycycle, waveform;
Stimulate Ruffini's corpuscle pattern: two electrodes choosing ad-hoc location, pass into the anode current of the 4th frequency, dutycycle, waveform.
2. the electric stimulation for generation of human body electric touch according to claim 1, is characterized in that, also comprises an electrode patch, and described electrode patch, in order to be affixed on the back of the hand and ground connection, forms the negative pole of electric stimulation pulse input.
3. the electric stimulation of generation human body electric touch according to claim 1, it is characterized in that, described electrode surface scribbles inert metal, and protrudes from flexible material surface.
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| US9600083B2 (en) * | 2014-07-15 | 2017-03-21 | Immersion Corporation | Systems and methods to generate haptic feedback for skin-mediated interactions |
| CN106307803A (en) * | 2016-08-17 | 2017-01-11 | 上海交通大学 | Insole device for producing sole pressure sensing by utilizing electrical stimulation and application method |
| CN108733198A (en) * | 2017-04-17 | 2018-11-02 | 中国科学院沈阳自动化研究所 | Egersimeter system for generating artificial tactile and artificial tactile production method |
| KR102655298B1 (en) * | 2018-01-03 | 2024-04-04 | 엔에스이 프로덕츠, 인크. | Microcurrent device equipped with fingertip for skin |
| CN108874150A (en) * | 2018-07-27 | 2018-11-23 | 华南理工大学 | A kind of virtual reality touch feedback interactive system |
| CN109782950B (en) * | 2019-01-04 | 2022-05-17 | Oppo（重庆）智能科技有限公司 | Touch electrode control method and device, storage medium and electronic equipment |
| CN112379772B (en) * | 2020-11-05 | 2022-03-04 | 厦门大学 | Touch reproduction method and device for droplet dropping skin based on electric stimulation |
| CN112915384B (en) * | 2021-02-26 | 2024-03-08 | 清华大学深圳国际研究生院 | Data acquisition and analysis device for nerve electrical stimulation simulation touch sense |
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