【摘要】：近年來,觸覺感知被認(rèn)為是可以替代或補(bǔ)償視覺和聽覺信息的很有前景的信息傳遞方式,因而受到了廣泛的關(guān)注。觸覺感知不僅可以幫助盲人或視弱者提供一條獲取信息的新渠道,也可以豐富正常人的信息獲取方式,提高信息交互的效率。本論文開展了基于電刺激的可穿戴的觸覺再現(xiàn)設(shè)備和基于電刺激和電致振動(dòng)摩擦力控制融合的多模態(tài)觸覺再現(xiàn)系統(tǒng)的研究。首先分析了人類觸覺感知的生理基礎(chǔ)、電刺激觸覺再現(xiàn)的理論基礎(chǔ)和電致振動(dòng)摩擦力控制的觸覺再現(xiàn)的理論基礎(chǔ),并分析了電致振動(dòng)效應(yīng)中靜電力的影響因素,提出了電刺激和摩擦力控制融合的觸覺再現(xiàn)方法。在理論分析的基礎(chǔ)上,本文設(shè)計(jì)并研制了基于電刺激的可穿戴的觸覺再現(xiàn)設(shè)備、基于電刺激和摩擦力控制融合的多模態(tài)觸覺再現(xiàn)系統(tǒng)。這兩種系統(tǒng)主要由觸覺面板模塊、基于TM4C123微處理器的中央控制模塊、電極陣列激勵(lì)信號(hào)控制模塊和高壓電壓源模塊構(gòu)成的,并且設(shè)計(jì)了兩種系統(tǒng)的硬件方案和軟件方案。對(duì)于基于電刺激的可穿戴的觸覺再現(xiàn)設(shè)備,本文采用了觸覺電極靜態(tài)顯示和觸覺電極動(dòng)態(tài)顯示的方法并開展了基于電刺激的電壓感知閾值實(shí)驗(yàn)、激勵(lì)信號(hào)最佳參數(shù)實(shí)驗(yàn)、空間分辨率實(shí)驗(yàn)、簡單字符的識(shí)別實(shí)驗(yàn)和大寫英文字母的識(shí)別實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明,本系統(tǒng)中簡單字符的平均識(shí)別成功率在95.2%左右;大寫英文字母的平均識(shí)別成功率在82.0%左右。實(shí)驗(yàn)結(jié)果驗(yàn)證了所設(shè)計(jì)的基于電刺激的可穿戴的觸覺再現(xiàn)設(shè)備能夠成功地實(shí)現(xiàn)信息的感知。對(duì)于基于電刺激和電致振動(dòng)摩擦力控制融合的多模態(tài)觸覺再現(xiàn)系統(tǒng),本文開展了基于摩擦力控制的電壓感知閾值實(shí)驗(yàn)、空間分辨率實(shí)驗(yàn)、簡單字符識(shí)別實(shí)驗(yàn)、大寫英文字母識(shí)別實(shí)驗(yàn)、復(fù)雜字符識(shí)別實(shí)驗(yàn)、基于電刺激的簡單字符識(shí)別實(shí)驗(yàn)、大寫英文字母識(shí)別實(shí)驗(yàn)、復(fù)雜字符識(shí)別實(shí)驗(yàn)、基于電刺激和電致振動(dòng)摩擦力控制融合的大寫英文字母識(shí)別實(shí)驗(yàn)和復(fù)雜字符識(shí)別實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明,本系統(tǒng)中單一電刺激和單一摩擦力控制的簡單字符的平均識(shí)別成功率都在94.0%左右,觸覺感知效果很好;電刺激和電致振動(dòng)摩擦力控制融合的大寫英文字母的平均識(shí)別成功率(85.4%)高于單一電刺激(78.3%)和單一摩擦力控制(70.8%);電刺激和摩擦力控制融合的復(fù)雜字符的平均識(shí)別成功率(89.0%)仍然高于單一電刺激(82.3%)和單一摩擦力控制(70.3%)。實(shí)驗(yàn)結(jié)果驗(yàn)證了電刺激和電致振動(dòng)摩擦力控制融合具有更強(qiáng)的觸覺感知效果,能夠更好的實(shí)現(xiàn)信息的感知。本論文開展了基于電刺激的可穿戴的觸覺再現(xiàn)設(shè)備的研制,研究了人手腕對(duì)于電刺激的觸覺感知特性;開展了基于電刺激和電致振動(dòng)摩擦力控制融合的多模態(tài)觸覺再現(xiàn)系統(tǒng)的研究,研究了人手指對(duì)于電刺激、摩擦力控制和兩者融合的觸覺感知特性。所設(shè)計(jì)并研制的系統(tǒng)可以很好地實(shí)現(xiàn)從外界獲取信息的途徑,為實(shí)現(xiàn)更好的觸覺再現(xiàn)效果奠定了基礎(chǔ)。
[Abstract]:In recent years, tactile perception has attracted much attention as a promising way to replace or compensate for visual and auditory information. Tactile perception can not only help blind or visually impaired people to provide a new channel for information acquisition, but also enrich the normal way of information acquisition and improve the effectiveness of information interaction. In this paper, a wearable tactile reproduction device based on electrical stimulation and a multi-modal tactile reproduction system based on electrical stimulation and frictional force control fusion are studied. On the basis of theoretical analysis, the influence factors of electrostatic force in electro-vibration effect are analyzed, and the tactile reproduction method of electric stimulation and friction control fusion is proposed. The two systems are mainly composed of the tactile panel module, the central control module based on TM4C123 microprocessor, the electrode array excitation signal control module and the high voltage power supply module, and the hardware and software schemes of the two systems are designed. The method of static display and dynamic display of tactile electrodes is introduced. The voltage sensing threshold experiment based on electrical stimulation is carried out. The best parameters of excitation signal, spatial resolution experiment, simple character recognition experiment and capitalized English letter recognition experiment are carried out. The experimental results show that the wearable tactile reproducing device based on electrical stimulation can successfully realize the perception of information. For the multi-modal tactile reproducing system based on the fusion of electrical stimulation and induced vibration friction control, this paper develops a friction-based multi-modal tactile reproducing system. Voltage perception threshold experiment, spatial resolution experiment, simple character recognition experiment, capitalized English character recognition experiment, complex character recognition experiment, simple character recognition experiment based on electrical stimulation, capitalized English character recognition experiment, complex character recognition experiment, large-scale friction control fusion based on electrical stimulation and induced vibration The experimental results show that the average recognition success rate of simple characters controlled by single electrical stimulation and single friction force is about 94.0%, and the tactile perception effect is very good. The average recognition success rate of upper-case letters fused by electrical stimulation and electro-vibration friction force is 8. 5.4% was higher than single electrical stimulation (78.3%) and single friction control (70.8%). The average recognition success rate of complex characters fused by electrical stimulation and friction control (89.0%) was still higher than single electrical stimulation (82.3%) and single friction control (70.3%). In this paper, the wearable tactile reproduction equipment based on electrical stimulation is developed, and the tactile characteristics of wrists and hands are studied. The research of multi-modal tactile reproduction system based on electrical stimulation and frictional force control fusion is carried out, and the finger is studied. For the tactile perception characteristics of electrical stimulation, friction control and the combination of the two, the designed and developed system can achieve a good way to obtain information from the outside world and lay the foundation for better tactile reproduction effect.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：R318

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本文編號(hào)：2180960