發(fā)布時間：2018-03-20 15:33

  本文選題：電觸覺刺激　切入點：電刺激器　出處：《上海交通大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：目前,商用肌電假肢采用的基本都是開環(huán)控制框架,普遍缺乏觸覺反饋,從而導(dǎo)致受試者低的參與度和高的任務(wù)負荷。為解決上述問題,國內(nèi)外相關(guān)研究已經(jīng)對多種觸覺感知反饋方法(侵入式的神經(jīng)電刺激、其他非侵入式的替代方法)進行了深入的探究。本文主要是以經(jīng)皮電刺激為觸覺感知復(fù)現(xiàn)方法,探究了以下三個科學(xué)問題并獲得了相應(yīng)的結(jié)論。首先,通過探究電觸覺反饋位置(軀體特定區(qū)域反饋與軀體非特定區(qū)域反饋)及通道數(shù)對感知識別率(類型、強度、位置)的影響,發(fā)現(xiàn)軀體特定區(qū)域反饋的反饋識別率要顯著的優(yōu)于軀體非特定區(qū)域反饋,特別是對位置信息的識別。并且在豐富的感知信息和較高的識別效果之間取得了平衡。依據(jù)上述結(jié)果,為不同的截肢患者,提供了最優(yōu)的觸覺反饋方案;其次,通過探究受試者對物體抓取相關(guān)屬性(物體平衡力和剛度)的識別,獲取了受試者對兩種屬性的識別率,證實了在肌電假肢中使用電觸覺反饋的可行性;最后,通過探究觸覺反饋類型對抓取力控制的影響,發(fā)現(xiàn)滑覺反饋的效果要優(yōu)于壓力反饋,并且壓力滑覺反饋具有視覺反饋類似的表現(xiàn)。為了完成上述科學(xué)問題的探究,本文還基于對人體皮膚模型的分析,設(shè)計了多通道電刺激器設(shè)備;基于實際的抓取模型,搭建了適用于肌電假肢手的電觸覺感知反饋平臺。
[Abstract]:At present, the commercial myoelectric prostheses are basically open-loop control framework, generally lack of tactile feedback, resulting in low participation and high task load. Various tactile sensory feedback methods (invasive neuroelectric stimulation, other non-invasive alternative methods) have been deeply explored at home and abroad. The following three scientific problems are explored and the corresponding conclusions are obtained. Firstly, by exploring the position of electrotactile feedback (somatic specific region feedback and somatic non-specific region feedback) and the recognition rate of channel pairs (type, intensity), It was found that the feedback recognition rate of somatic specific region feedback was significantly better than that of somatic non-specific region feedback. In particular, the recognition of position information is balanced between rich perceptual information and high recognition effect. Based on the above results, the optimal tactile feedback scheme is provided for different amputation patients. Secondly, By exploring the recognition of object grasping related attributes (balance force and stiffness of object), the recognition rate of the two attributes is obtained, which proves the feasibility of electrotactile feedback in myoelectric prosthesis. By exploring the effect of tactile feedback type on grip force control, it is found that the effect of slide feedback is better than that of pressure feedback, and pressure slip feedback has similar performance of visual feedback. Based on the analysis of human skin model, a multi-channel electric stimulator is designed, and an electrotactile feedback platform for myoelectric prosthetic hand is built based on the actual grab model.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R318.17

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本文編號：1639704