面向脑卒中康复的气袋式 触觉反馈单元特性研究

Considering that existing air bag haptic feedback devices cannot accurately present the interaction effect and represent the haptic force and haptic area at the same time, the static characteristics and dynamic characteristics of the pneumatic haptic unit were studied. The static pressure distribution model was established based on the geometric constraints of the pneumatic haptic unit, and the dynamic pressure response model was developed by analogy with the circuit ca-pacitive discharge model. Three types of air bag haptic units were produced, and the characteristics tests were carried out. The results showed that the fitted haptic area error of the static pressure distribution model was 6. 94%, and the response time of pneumatic units of medium-sized air bag (14. 4 mmX9. 4 mm) and below was within 0. 5 s. A torso haptic feedback system was developed using the medium-sized air bag, and haptic perception experiments were carried out as well. Different haptic areas were represented by adjusting the height of the inflation limit, and different haptic forces were represented by changing the air pressure of the air bag. The results showed that the recognition rates of haptic area and haptic force were 87. 25% and 89. 67%, respectively. The study on characteristics of air bag haptic feedback unit for stroke rehabilitation provides a basis for the selection of design parameters of the haptic feedback device which can enable stroke patients to quickly perceive the haptic area and haptic force during rehabilitation training to improve the rehabilitation training experience of patients.