压觉-滑觉-粗糙度多模态指尖触觉刺激装置研究

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.