WO2001038958A1 - Methode et dispositif de stimulation de sensations tactiles par electricite - Google Patents

Methode et dispositif de stimulation de sensations tactiles par electricite Download PDF

Info

Publication number
WO2001038958A1
WO2001038958A1 PCT/JP2000/008173 JP0008173W WO0138958A1 WO 2001038958 A1 WO2001038958 A1 WO 2001038958A1 JP 0008173 W JP0008173 W JP 0008173W WO 0138958 A1 WO0138958 A1 WO 0138958A1
Authority
WO
WIPO (PCT)
Prior art keywords
nerve
electrode
skin surface
presentation method
axon
Prior art date
Application number
PCT/JP2000/008173
Other languages
English (en)
Japanese (ja)
Inventor
Susumu Tachi
Taro Maeda
Naoki Kawakami
Hiroyuki Kajimoto
Original Assignee
Center For Advanced Science And Technology Incubation, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Center For Advanced Science And Technology Incubation, Ltd. filed Critical Center For Advanced Science And Technology Incubation, Ltd.
Priority to JP2001540447A priority Critical patent/JP3543097B2/ja
Priority to AU14173/01A priority patent/AU1417301A/en
Publication of WO2001038958A1 publication Critical patent/WO2001038958A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36014—External stimulators, e.g. with patch electrodes
    • A61N1/3603—Control systems
    • A61N1/36034—Control systems specified by the stimulation parameters

Definitions

  • the present invention relates to a tactile presentation method and apparatus, and more particularly, to a tactile presentation method and apparatus for firing a nerve axon connected to a receptor by electrical stimulation from the skin surface.
  • firing means a phenomenon in which the potential of a stimulation site on a nerve axon rises rapidly, and the phenomenon of potential rise propagates through the axon.
  • somatic sensations Human sensations are generally divided into special sensations and somatic sensations.
  • a special sensation is a sensation that has sensory organs that correspond to sight and eyes, and hearing and ears.
  • somatic sensations can be broadly divided into skin sensations derived from the skin and proprioceptive sensations derived from internal muscles and tendons. This somatic sensation means tactile sensation in a broad sense. In a narrow sense, tactile sense means contact and pressure in the skin sensation, including sensations such as warmth, cold, and pain.
  • Tactile sensation and pressure sensation correspond to sensory receptors such as Merkel cells, Meissner's body, and Pachinii's body in the skin.If the skin is dented or pulled, its deformation or vibration is applied to the receptor. A sense of communication occurs. In addition, in skin sensation, there are various sensory receptors corresponding to sensory points, and some receptors basically observe displacement, velocity and acceleration. It has recognized.
  • the present invention has been made to solve such a problem, and focuses on the existence of several types of mechanoreceptors under human skin, and selectively stimulates these from electrodes on the skin surface. It is characterized by doing. Specifically, we propose two methods. One is that the current electrical stimulation is cathodic In this method, anodic current is used to stimulate nerve axons selectively, while current is used as stimulation. The other is a method in which the electrodes are arrayed and the stimulation depth is changed by changing the weight of the current flowing through each electrode. In addition, symbols are presented by electrical stimulation using anodic current. BRIEF DESCRIPTION OF THE FIGURES
  • FIG. 1 shows the skin structure of a hairless part of a human, where RA indicates Meissna body, S AI indicates Merkel cell, and PC indicates Patini body;
  • Figure 2 is a table showing the depth of various bodies and the diameter of axons connected to them at the fingertips;
  • Fig. 3 is a cross-sectional view and an equivalent circuit diagram illustrating electrical stimulation from the skin surface
  • Fig. 4 is a diagram illustrating current stimulation from the skin surface, showing a two-dimensional, single electrode case. ing ;
  • Figure 5 shows the stimulation function of a horizontally extending axon, showing the case of cathodic current from a single electrode
  • Figure 6 shows a one-dimensional array electrode
  • Figure 7 shows the stimulation by the cathodic current, where the stimulation function of the horizontally extending axons takes a positive value, whereas the stimulation function of the vertically extending axons takes a negative value;
  • FIG. 8 is a diagram showing anodic stimulation, in which the stimulus function is reversed, in which only axons in the vertical direction of the skin are stimulated;
  • Figure 9 shows stimulation of Merkel cells and nerve axons of Patini bodies by a single electrode
  • Figure 10 shows the stimulation of Merkel cell nerve axons by array electrodes
  • Fig. 11 shows the stimulation of the paxini body axons by array electrodes. is there ;
  • FIG. 12 is a system configuration diagram according to the embodiment.
  • Figure 13 shows the input pulse waveform
  • Fig. 14 is a diagram explaining the sensation movement phenomenon, and shows that the subject always feels vibration at a position shifted from the electrode by about 1 to 3 mm in the direction of the fingertip;
  • Fig. 15 shows the elasticity of the target object in the SAI mode.
  • the object that felt like a knife edge when the finger was not moved touched the soft elastic rod as soon as it was slightly moved. Feel like there is;
  • Figure 16 shows the difference between the stimulation point and the sensory origin in each electrical stimulation mode.
  • the left is the cathode (SAI) mode and the right is the anode (RA) mode.
  • SAI cathode
  • RA anode
  • RA Meissner body
  • S A1 Merkel cell
  • S A I Luffy terminal
  • PC Pacini body
  • SAI I Luffy Terminal
  • Figure 1 shows the structure of the hairless skin.
  • RA and PC are generally thought to sense high-speed changes or vibrations, and SAI is thought to sense pressure.
  • SAI is thought to sense pressure.
  • Figure 2 shows the depth of each body and the diameter of the axon connected to it. This depth depends on the body part, but the numbers given here are at your fingertips.
  • the characteristic of the skin at the fingertip is the thickness of the keratin, and at the fingertip it is 600 / xm In other parts of the body it is around 15 / m.
  • RA exists at the tip of Dermal papillae, and its depth from the surface is about 700 m.
  • the depth of the SAI is calculated to be about 900 ⁇ m from the height of the glandular ridge.
  • the PC is located between the dermis and the subcutaneous tissue and is 2 to 3 mm deep.
  • the nerve axon connected to the mechanoreceptor is type A
  • the diameter of RA is about half the diameter of the other two axons.
  • the threshold for electrical stimulation is much lower for mechanoreceptors than for other nerves, and the stimulation can be performed stably (for example, without pain).
  • each stimulus is referred to as an RA mode, an SAI mode, and a PC mode.
  • Figure 3 shows a model of a nerve axon, with the X axis taken in the direction of the axon.
  • the cell membrane of the axon has a capacitance C m and a conductance Gm.
  • G be the internal conductance.
  • the external potential and the internal potential across the membrane are denoted by ⁇ (X, t) and V (X, t), respectively, and the potential difference V— ⁇ is denoted by Vm (X, t). From this, assuming a temporal impulse input as the input, Equation (1) is obtained.
  • the right side of equation (1) will be called the stimulus function (AF).
  • AF This is a rule that predicts the maximum value of the transmembrane potential at the time of impulse input, and can be used as a criterion for determining whether or not a nerve is firing. If a nerve axon can be fired anywhere on the axon, the maximum value of the stimulation function along the axon should be evaluated to determine the ease of firing of the nerve with electrical stimulation.
  • G and Cm are the conductance and transmembrane capacitance per axon unit length, respectively.
  • G and Cm are the conductance and transmembrane capacitance per axon unit length, respectively.
  • G and Cm are the conductance and transmembrane capacitance per axon unit length, respectively.
  • G and Cm are the conductance and transmembrane capacitance per axon unit length, respectively.
  • unmyelinated nerves When comparing unmyelinated nerves and myelinated nerves of the same size, Cm 0 1: 1 0 3 times larger. Therefore, unmyelinated nerves are less likely to be electrically stimulated than myelinated nerves on the order of 10 i to 10 3 .
  • mechanoreceptor axons are the thickest and myelinated, and are the most irritating.
  • u x x (X) is the spatial second derivative of the potential along the axon. Electric potential is generated by current from the skin surface. For this reason, the stimulus function must be described by the current source density on the skin surface.
  • I This current is the cathode current (sink). For simplicity, it is assumed to be a uniform infinite space.
  • the X axis is taken toward the skin surface, and the y axis is taken along the skin depth. Take the electrode as the origin.
  • ⁇ (X, y) — p I log (R) / 2 ⁇ (where ⁇ is the resistance per unit volume and the potential at infinity is assumed to be 0).
  • FIG. 5 shows the following.
  • AF X . From oc 1 y 2 this attenuates in proportion to the square of the axon depth y. That is, the shallower part is more likely to be irritated.
  • Figure 5 shows the results for the cathodic current for horizontally extending axons. If it becomes anodic, the figure is inverted and the stimulus function has a negative value. This has been the case in conventional electrical stimulation experiments using cathodic currents. That's why.
  • I i is the current from the i-th electrode.
  • M represents the number of electrodes, and
  • X i represents the coordinates of the i-th electrode.
  • the main part of the present invention is a method of individually stimulating each receptor for each type, that is, individually stimulating axons connected to RA, SAI, PC
  • the RA mode, SAI mode, and PC mode are described.
  • the RA mode that stimulates only RA axons is described. It takes advantage of the fact that RA axons extend perpendicular to the skin surface.
  • the stimulus function is the second derivative of the potential along the axon. Therefore, in FIG. 7, the stimulation function of the axon extending in the X direction is d 2 VZ d X 2 , whereas the stimulation function of the axon extending in the y direction is d 2 V / dy 2 .
  • normal cathodic current stimulation can stimulate axons extending in the horizontal direction of the skin, but cannot stimulate axons extending in the depth direction of the skin, such as those of Meissner bodies. This is because the stimulus function takes a negative value.
  • the anode current is used. Then, the potential distribution is inverted, and the stimulus function is also inverted (Fig. 8). That is, only the axons of the Meissner body are stimulated, and other horizontally extending axons are suppressed from firing.
  • the SAI mode that stimulates only the SAI axon is described.
  • S AI is thought to control pressure sensation, and this mode is expected to be a pressure stimulus stimulus.
  • the RA axon was the shallowest and had the characteristic of extending in the vertical direction of the skin.
  • RA axons also run horizontally when they reach the deep dermal region, but since the diameter of RA axons is about half that of SAI or PC axons, the stimulus function is 1/4. Hard to irritate.
  • Figure 9 shows the SAI and PC stimulation functions produced by a single cathodic current.
  • the stimulus function of SAI is larger because SAI exists in the shallower part. Therefore, stimulation of only SAI is relatively easy. Furthermore, when an array electrode is used, the PC stimulus function can be suppressed while maintaining the S AI stimulus function.
  • the weight change here means that a positive electrode is arranged around a single negative electrode to speed up the decay of the stimulus function in the depth direction. It should be noted here that three or more electrodes are used to present a single point. (Electric tactile displays in the past only used at most a cathode and an indifferent electrode around it.) No. ). It is used to create the desired stimulus function at the desired depth.
  • AF represents the stimulation function of the axon horizontal to the skin.
  • the last equation is obtained from Gauss's law. This result indicates that the stimulus function is a harmonic function.
  • the maximum value and the minimum value are taken on the boundary line.
  • the maximum value of the SAI stimulus function is necessarily larger than the maximum value of the PC stimulus function.
  • the cathode current is also applied to the array around the central cathode electrode to virtually increase the electrode size.
  • the overlapping stimulus functions do not strengthen at the depth of the SAI, but strengthen at the depth of the PC (because the stimulus function spreads in the first place) (Fig. 11).
  • the decay of the stimulus function can be slowed down, and ideally a stimulus function equivalent to SAI can be given.
  • the weight change here means that a negative electrode is further arranged around the cathode electrode to slow down the stimulus function in the depth direction.
  • the axon at the end of Luffy II extends vertically.
  • the nerve axon is about twice as large as the Meissner body axon. Therefore, it is considered that if the stimulation is performed by the anodic current and the stimulation function reaches deep using the array electrode, it can be fired independently.
  • a configuration of a system embodying the present invention will be described with reference to FIGS.
  • Analog multiplication of the 1-channel high-speed pulse signal (1 MHz) and the 8-channel low-speed weighting signal yields a perfectly synchronized 8-channel stimulation signal. This is converted to a current by a V-I converter, and the subject is energized. The subject places his finger on the electrode array and wears a grounded ring.
  • the array consists of eight equally spaced linear electrodes. The spacing is 1 mm and the size of one electrode is 0.5 mm x 10 mm.
  • the current flowing from one electrode Limits to 2 mA.
  • the sum of the array weights is set to 0 so that the current flows only to the fingertip.
  • the time average of the current from one electrode is set to 0 to prevent accumulation of electric charge on the skin.
  • Figure 13 shows the waveform of the high-speed pulse. It looks like a cathodic electrode, but if the weighting signal to be multiplied is negative, it will be an anodic stimulation.
  • the pulse width is currently fixed at 200 / z s.
  • the method is described below. It uses the fact that the nerve fires on the axon where the stimulus function takes its maximum value. The limitations are that the total weight is 0 (to confine the current to the fingertip) and that the electrode spacing is fixed.
  • the optimization problem is formulated as follows.
  • equation (3) is an optimization problem, and by solving this numerically, the weight of the array is obtained. (- subject to> Wi ⁇ 0
  • a 3 ⁇ 4 A and AFSAI ⁇ AFpc are the weighting vectors for RA and SAL PC activating functions.
  • the numerator and denominator in Eq. (3) are the maximum stimulus functions for the PC, SAI, and RA, respectively, along the axon. Equation (3) attempts to suppress the PC and SAI stimulus functions while preserving the RA stimulus functions. As a result, a weight for firing only the RA is obtained.
  • equation (4) is an optimization problem,
  • the weight of the array is obtained by solving the problem. mm ⁇ ⁇ ) (A,
  • equation (5) is an optimization problem, and by solving this numerically, the weight of the array is obtained. m in)
  • the two phenomena of selecting the direction of the axon and selecting the depth of the axon can be uniformly described by the stimulus function (which also takes into account the direction of the axon).
  • the weighting tendency for each RA is that the center electrode is the anode and the stimulus function is desirably attenuated in RA
  • the SAI is that the center electrode is the cathode and the stimulus function is desirably attenuated in SAI.
  • RA [0.2, 0.2, 0.1, -1.0, 0.1, 0.2, 0.2] and SAI [0.5, -0.5, -0.5, 1.0, -0.5, -0.5, 0.5] and [-1.5, 0.0, 1.0, 1.0, 0.0, -1.5] for PC.
  • SAI since the original pulse is the cathode current, when the weight is positive, it is the cathode current, and when the weight is negative, it is the anode current. Because of the constraint that the sum of the weights is 0, there is an anode at the end even for PC.
  • SAI and RA the center electrode is surrounded by electrodes of opposite signs to achieve stimulation in a very shallow range.
  • the current was gradually increased from zero.
  • the frequency of the pulse was from 100 Hz to 800 Hz.
  • the subject felt vibration.
  • the location where the vibration sensation is generated is not directly below the center electrode, but always deviates from lmm to 3 mm in the fingertip direction. (Fig. 14). This is clear evidence that the current is stimulating the axons connected to the mechanoreceptors, not the mechanoreceptors themselves.
  • the firing frequency of SAI changes according to the pressure. The higher the pressure, the higher the firing frequency. If you were wielding a "hard” object, the frequency of fire should increase with increasing pressure when you press your finger. However, in this case, even if the finger was pressed, the frequency of the current did not change, so the firing frequency did not change. It is considered that the brain judged that the reaction force did not return when pressed, that is, it was "soft.” This phenomenon suggests the following two points. First, the skin sensation also feels soft. Second, in order to exhibit a certain hardness, it is necessary to feed back the finger pressure to the pulse frequency.
  • the tactile presentation according to the present invention can also be applied as symbol presentation.
  • the present invention is used as a device for presenting Braille to a blind person.
  • the greatest requirement for symbol presentation is a narrow receptive field, or resolution.
  • the cause of this "blur” is interpreted by the brain, whereas nerve axons are directly stimulated by electrical stimulation Since the stimulus site is a mechanoreceptor at the tip of the axon, a “deviation” of the sensation origin occurs, and the accumulation of this deviation in multiple directions is considered to have caused “blurring” of the sensation (Fig. 16 left) Figure).
  • the first way to reduce the shear effect is to stimulate the shallow skin. This is because the shallower axon is considered closer to the nerve endings, that is, the receptors. For this reason, conventional symbol presentation by electrical stimulation often employs concentric electrodes to improve the resolution by limiting the region where current flows. However, even with this, the gap cannot be completely eliminated.
  • the simulation showed that the most aggressive area near the tip of the axon was the Ranvier Node closest to the tip. For this reason, the firing site is at least one myelin sheath (about 0.5 mm) shifted from the tip. Given that this accumulates, it is in principle impossible to keep the receptive field below 1 mm in diameter.
  • the receptive field can be most limited by stimulating a shallow, vertically extending axon to present symbols by electrical stimulation. This corresponds to the anodic stimulus (RAMode).
  • any perceptible skin sensation can be presented by selectively stimulating the cutaneous sensory nerve, and can be used as an electrotactile display. Further, by applying the stimulation method according to the present invention to a symbol presenting device, it can be used as, for example, a Braille presenting device.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Electrotherapy Devices (AREA)

Abstract

L'invention concerne la stimulation plus minutieuse de sensations par stimulation sélective de récepteurs de plusieurs types sous la peau. L'invention concerne également une méthode d'activation sélective de l'axone connecté à un récepteur par une stimulation électrique de la surface de la peau dans laquelle des électrodes en réseau sont disposées en un réseau linéaire ou bidimensionnel sous la peau, un axone est stimulé sélectivement dans le sens dans lequel l'axone s'étend par une variation pondérée des électrodes en réseau, et un axone à une profondeur différente de la peau est stimulé sélectivement par variations de la profondeur de stimulation.
PCT/JP2000/008173 1999-11-24 2000-11-20 Methode et dispositif de stimulation de sensations tactiles par electricite WO2001038958A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2001540447A JP3543097B2 (ja) 1999-11-24 2000-11-20 電気刺激を用いた触覚呈示方法及び装置
AU14173/01A AU1417301A (en) 1999-11-24 2000-11-20 Method and device for stimulating tactile sensation by electricity

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11/332177 1999-11-24
JP33217799 1999-11-24

Publications (1)

Publication Number Publication Date
WO2001038958A1 true WO2001038958A1 (fr) 2001-05-31

Family

ID=18252035

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2000/008173 WO2001038958A1 (fr) 1999-11-24 2000-11-20 Methode et dispositif de stimulation de sensations tactiles par electricite

Country Status (3)

Country Link
JP (1) JP3543097B2 (fr)
AU (1) AU1417301A (fr)
WO (1) WO2001038958A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005031918A (ja) * 2003-07-10 2005-02-03 Ntt Docomo Inc タッチパネルディスプレイ装置
WO2007066717A1 (fr) 2005-12-08 2007-06-14 The University Of Tokyo Affichage tactile electrique
JP2009187579A (ja) * 2009-05-15 2009-08-20 Ntt Docomo Inc タッチパネルディスプレイ装置
WO2010134349A1 (fr) * 2009-05-21 2010-11-25 パナソニック株式会社 Dispositif de traitement de sensations tactiles
KR101563256B1 (ko) 2013-11-20 2015-10-26 늘솜주식회사 액추에이터 구동 장치
JP2017023223A (ja) * 2015-07-16 2017-02-02 国立大学法人埼玉大学 機能的電気刺激を用いた双方向遠隔制御システム

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI20085475A0 (fi) 2008-05-19 2008-05-19 Senseg Oy Kosketuslaiteliitäntä
KR101580227B1 (ko) 2007-09-18 2015-12-24 센세그 오와이 감지 자극에 대한 장치 및 방법
ES2635370T3 (es) 2008-10-03 2017-10-03 Senseg Oy Técnicas para presentar información relacionada con un vehículo
JP5385582B2 (ja) 2008-10-10 2014-01-08 大学共同利用機関法人自然科学研究機構 痛覚神経刺激装置
US8766933B2 (en) 2009-11-12 2014-07-01 Senseg Ltd. Tactile stimulation apparatus having a composite section comprising a semiconducting material
JP5399939B2 (ja) 2010-02-09 2014-01-29 大学共同利用機関法人自然科学研究機構 痛覚神経刺激装置
JP5549979B2 (ja) * 2010-06-23 2014-07-16 国立大学法人大阪大学 空間透明型触覚提示装置および道具操作支援システム
JP6703688B2 (ja) 2016-04-07 2020-06-03 国立研究開発法人科学技術振興機構 触覚情報変換装置、触覚情報変換方法、および、触覚情報変換プログラム、並びに、素子配置構造体

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0167471A2 (fr) * 1984-05-30 1986-01-08 The University Of Melbourne Prothèse auditive à transducteurs électrotactiles
EP0184332A2 (fr) * 1984-11-07 1986-06-11 Audiosonics Neural Communications Systems, Inc. Méthode et dispositif pour communiquer aux sourds des informations représentées par des ondes acoustiques
US4926879A (en) * 1988-06-13 1990-05-22 Sevrain-Tech, Inc. Electro-tactile stimulator
US4950229A (en) * 1989-09-25 1990-08-21 Becton, Dickinson And Company Apparatus for an electrode used for iontophoresis
JPH0720978A (ja) * 1993-07-05 1995-01-24 Sony Corp 仮想体感装置
WO1996004574A1 (fr) * 1994-08-05 1996-02-15 Apollon's Algebra (Gibraltar) Limited Procede et dispositif d'emission d'informations acoustiques sous forme de vibrations tactiles
JPH0890472A (ja) * 1994-09-26 1996-04-09 Olympus Optical Co Ltd 触覚伝達装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0167471A2 (fr) * 1984-05-30 1986-01-08 The University Of Melbourne Prothèse auditive à transducteurs électrotactiles
EP0184332A2 (fr) * 1984-11-07 1986-06-11 Audiosonics Neural Communications Systems, Inc. Méthode et dispositif pour communiquer aux sourds des informations représentées par des ondes acoustiques
US4926879A (en) * 1988-06-13 1990-05-22 Sevrain-Tech, Inc. Electro-tactile stimulator
US4950229A (en) * 1989-09-25 1990-08-21 Becton, Dickinson And Company Apparatus for an electrode used for iontophoresis
JPH0720978A (ja) * 1993-07-05 1995-01-24 Sony Corp 仮想体感装置
WO1996004574A1 (fr) * 1994-08-05 1996-02-15 Apollon's Algebra (Gibraltar) Limited Procede et dispositif d'emission d'informations acoustiques sous forme de vibrations tactiles
JPH0890472A (ja) * 1994-09-26 1996-04-09 Olympus Optical Co Ltd 触覚伝達装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HIROYUKI KAJIMOTO ET AL.: "Tactile feeling display using functional electrical stimulation", THE 9TH INTERNATIONAL CONFERENCE ON ARTIFICIAL REALITY AND TELEXISTENCE (ICAT99), THE VIRTUAL REALITY SOCIETY OF JAPAN, 16 December 1999 (1999-12-16), (TOKYO, JAPAN), pages 107 - 114, XP002936761 *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005031918A (ja) * 2003-07-10 2005-02-03 Ntt Docomo Inc タッチパネルディスプレイ装置
JP4531358B2 (ja) * 2003-07-10 2010-08-25 株式会社エヌ・ティ・ティ・ドコモ タッチパネルディスプレイ装置
WO2007066717A1 (fr) 2005-12-08 2007-06-14 The University Of Tokyo Affichage tactile electrique
US8920174B2 (en) 2005-12-08 2014-12-30 The University Of Tokyo Electric tactile display
JP2009187579A (ja) * 2009-05-15 2009-08-20 Ntt Docomo Inc タッチパネルディスプレイ装置
WO2010134349A1 (fr) * 2009-05-21 2010-11-25 パナソニック株式会社 Dispositif de traitement de sensations tactiles
JP4778591B2 (ja) * 2009-05-21 2011-09-21 パナソニック株式会社 触感処理装置
CN102227696A (zh) * 2009-05-21 2011-10-26 松下电器产业株式会社 触感处理装置
US8570291B2 (en) 2009-05-21 2013-10-29 Panasonic Corporation Tactile processing device
KR101563256B1 (ko) 2013-11-20 2015-10-26 늘솜주식회사 액추에이터 구동 장치
JP2017023223A (ja) * 2015-07-16 2017-02-02 国立大学法人埼玉大学 機能的電気刺激を用いた双方向遠隔制御システム

Also Published As

Publication number Publication date
JP3543097B2 (ja) 2004-07-14
AU1417301A (en) 2001-06-04

Similar Documents

Publication Publication Date Title
Kajimoto et al. Tactile feeling display using functional electrical stimulation
Kajimoto et al. Electro-tactile display with tactile primary color approach
WO2001038958A1 (fr) Methode et dispositif de stimulation de sensations tactiles par electricite
US10269223B2 (en) Haptic communication apparatus and method
JP3433236B2 (ja) 触知通信装置及び方法
US11520407B2 (en) Virtual reality haptic feedback interaction system
Kaczmarek et al. Electrotactile and vibrotactile displays for sensory substitution systems
Kajimoto et al. Forehead electro-tactile display for vision substitution
Kajimoto et al. Electro-tactile display with force feedback
Sato et al. Design of electrotactile stimulation to represent distribution of force vectors
CN102805900A (zh) 用于产生人工电触觉的电刺激系统
CN112057739B (zh) 脉冲输出控制方法、装置、电子设备及计算机存储介质
Shim et al. palmScape: Calm and pleasant vibrotactile signals
Seo et al. Edge flows: Improving information transmission in mobile devices using two-dimensional vibrotactile flows
Kajimoto et al. Psychophysical evaluation of receptor selectivity in electro-tactile display
Kuroki et al. Proposal for tactile sense presentation that combines electrical and mechanical stimulus
Kajimoto et al. Electrocutaneous display as an interface to a virtual tactile world
KR20210146276A (ko) 전기 자극 장치를 이용한 마스크팩 시스템
Chen et al. An investigation of stimuli-current thresholds on the non-steady contact condition
Kajimoto et al. Electrocutaneous display with receptor selective stimulations
CN115774486A (zh) 提供虚拟触觉的方法及装置
Kim et al. Extending" out of the body" saltation to 2d mobile tactile interaction
CN117666778B (zh) 动触觉混合渲染的电刺激触觉反馈穿戴系统
Echenique et al. Electrical stimulation of mechanoreceptors
KR20020064603A (ko) 인체 반응형 터치 스크린

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
ENP Entry into the national phase

Ref country code: JP

Ref document number: 2001 540447

Kind code of ref document: A

Format of ref document f/p: F

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase