CN102805900A - Electrical stimulation system for producing artificial electric touch - Google Patents
Electrical stimulation system for producing artificial electric touch Download PDFInfo
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Abstract
The invention provides an electrical stimulation system for producing artificial electric touch. The electrical stimulation system comprises an electrical stimulation pulse output device and a plurality of electrode arrays, wherein a command of the control party is received by the electrical stimulation pulse output device to produce corresponding electrical stimulation pulse, and the electrical stimulation pulse output device comprises a command receiver, a controller and an electrical stimulator; the command is converted into a digital signal to be output to the controller by the command receiver; corresponding electrodes are selected by the controller in the electrode arrays according to the received command signal, and the produced needed stimulation pulse characteristic is sent to the electrical stimulator; the stimulation pulse is output to the corresponding electrode in the electrode array by the electrical stimulator according to the received stimulation pulse characteristic; and the electrode array is contacted with finger pulp skin to output the electric stimulation pulse so as to stimulate a mechanical receptor in the skin to produce nervous impulse to produce touch. The electrical stimulation system is various in stimulation modes, vivid in touch representation, convenient to use, wide in applicable range, safe, effective and small in side effect.
Description
Technical field
The present invention relates to field of medical technology, be specifically related to a kind of electric stimulation that is used to produce artificial electric touch.
Background technology
Sense of touch is a kind of of human sensation.Though than vision and audition, the shared ratio of sense of touch acquired information is very little, is appreciated that in the process of human knowledge objective world, sense of touch is found out things to the mankind and played crucial effects.Particularly for the finding out of object texture and texture, sense of touch almost is unique a kind of means of finding out.
In the teleoperated vehicle field, the operator can obtain more information through the sense of touch passage, particularly when grasping the object of unlike material, shape, can rationally control the robotic arm grip force.After carrying out tele-medicine when operation, introducing artificial sense of touch, operating doctor can have ambient experience more true to nature to remote operation, can improve operation safety greatly, guarantees to perform the operation and accurately accomplishes.
Find that through scientific research four types " mechanoreceptors " are relevant in the tactile generation of human body skin and the skin, they are respectively Pacini's corpuscles, Wagner's corpuscles, Merkel's tactile disk and Ruffini's corpuscle.These four kinds of mechanoreceptors are distributed widely in the human body skin, and it is the most intensive to refer to that at finger the abdominal part position distributes especially.When they were upset respectively and produce response, people's cognition was experienced four kinds of basic senses of touch that have nothing in common with each other.Be similar to the three primary colors in the vision, these four kinds of basic senses of touch are made up just can form the various real sense of touch that human body can be experienced.
Therefore, produce artificial sense of touch, key is to produce effective stimulus respectively to four types of mechanoreceptors of human body.Conventional stimulation mode adopts physical mechanism to make skin generation deformation, and then produces sense of touch, and principle is simple, but mechanism design is complicated, and volume is bigger, is unfavorable for portablely, and can not realize a certain particular category mechanoreceptor is stimulated separately.Electricity irritation then is to utilize external electrode in skin, to feed little electric current, makes mechanoreceptor generation neural impulse in the skin, and then produces artificial sense of touch.
Literature search through to prior art finds that domestic research to electric touch also is in the starting stage.One Chinese patent application number is: 200810200430.2 patent of invention discloses a kind of vision sense of touch conversion equipment based on electricity irritation.The picture that this device is taken photographic head is handled, and the picture profile is presented on the electrod-array, forms the tactile conversion of vision.This electrical stimulation device is equivalent to the chart reader that the blind person uses, and pay close attention to the distribution of electrod-array moderate stimulation position, yet stimulus modelity is single, and being difficult to stimulates respectively four types of mechanoreceptors, physiology sense of touch that can not the true reappearance human body.
Summary of the invention
The present invention is directed to the deficiency that exists in the prior art, a kind of electric stimulation that is used to produce the human body electric touch is provided.The present invention is through providing more meticulous stimulus modelity, makes four types of mechanoreceptors in the finger skin under galvanism, produces response respectively, thereby makes the human feeling arrive multiple tactile experience such as finger tip vibration, extruding, twinge.
For achieving the above object, the present invention provides a kind of electric stimulation that is used to produce the human body electric touch, comprises electric stimulation pulse output device and some electrod-arrays, wherein,
The electric stimulation pulse output device produces the respective electrical boost pulse in order to receive the instruction input of control side, and it further comprises:
Command receiver: in order to be digital signal with the instruction transformation that receives and to export controller to;
Controller: the and instruction receptor connects, and is sent to electrostimulator in order to the boost pulse characteristic of selecting corresponding electrode in the electrod-array according to the command signal that receives and producing needs;
Electrostimulator: be connected with controller, in order to export corresponding electrode in boost pulse to the electrod-array according to the boost pulse characteristic that receives;
Electrod-array is connected with the electric stimulation pulse output device, and in order to refer to that with finger the Pericarpium Arecae skin contacts and export electric stimulation pulse, the mechanoreceptor in the chafe makes it produce neural impulse, and then produces sense of touch.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention, it also comprises an electrode patch, and this electrode patch forms the negative pole of electric stimulation pulse input in order to be affixed on the back of the hand and ground connection.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention, the electric touch instruction has corresponding relation with electrical stimulation pattern information;
Corresponding relation is: controller is selected corresponding electrode in the electrod-array after analyzing artificial sense of touch instruction, and regulates its input electric stimulation pulse characteristic.Dissimilar mechanoreceptors in the finger skin are excited by dissimilar electric stimulation pulses, produce corresponding sense of touch.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention; Electric touch instruction involving vibrations sense instruction, material texture sense instruction, extruding sense instruction and sense of dragging instruction; Corresponding; Electrical stimulation pattern comprises four kinds of output modes: stimulate Pacini's corpuscles to produce the vibration sense, stimulate Wagner's corpuscles to produce the sense of material texture, stimulate Merkel's tactile disk to produce the extruding sense, stimulate Ruffini's corpuscle to produce sense of dragging, be specially:
Stimulate the Wagner's corpuscles pattern: choose all electrodes in the electrod-array, feed the anode current of CF, dutycycle, waveform;
Stimulate the Merkel's tactile disk pattern: choose all electrodes in the electrod-array, feed the cathode current of CF, dutycycle, waveform;
Stimulate the Pacini's corpuscles pattern: choose the electrod-array medial electrode, feed the cathode current of CF, dutycycle, waveform; Remaining lateral electrode, the anode current of feeding CF, dutycycle, waveform;
Stimulate the Ruffini's corpuscle pattern: choose two electrodes of ad-hoc location, feed the anode current of CF, dutycycle, waveform.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention, this electrod-array is processed by the flexible PCB that with the polyimides is base material.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention; This electrod-array comprises: electrod-array district, fixed area and lead; The electrod-array district is arranged on the fixed area; It comprises some electrodes, and each electrode is connected with electrostimulator through lead, in order to the output electric stimulation pulse; Fixed area adopts the substrate of polyimides flexible material, and the surface is provided with stickum, in order to be fixed on the finger end with wrapping after the electrod-array bending.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention, this electrode surface scribbles inert metal, and protrudes from the flexible material surface.
According to the described electric stimulation that is used to produce the human body electric touch of preferred embodiment of the present invention, this electrostimulator and controller adopt the Compex Motion II electrostimulator of Switzerland.
The electric stimulation that is used for artificial electric touch provided by the invention can stimulate respectively four types of mechanoreceptors in the human body skin, produces multiple electric touch such as vibration, extruding, twinge.Through instruction given tactile type of input and intensity, just can this sense of touch of true reappearance on human body.And, can regulate stimulus intensity through instruction setting, reproduction Human Physiology true to nature sense of touch.The present invention both can control the sense of touch of single finger separately, also can stimulate a plurality of fingers simultaneously, produced combination tactile, let the experimenter that tactile experience more true to nature is arranged.Simultaneously, the electrod-array with flexible PCB is processed can fit tightly on finger skin, and can be effectively fixing, and simplicity of design, structure are light and handy, his operation of fingering Xingqi of might as well being in the way.The present invention can be widely used in a lot of fields, sense of touch reinforcement of the skin hypopselaphesia that causes like tactile feedback, body sense interactive game and pathological changes or the scald of teleoperator, tele-medicine operation, touch screen etc.
In sum, compared with prior art, the present invention has the stimulus modelity variation, and tactile sense reproduction is true to nature, easy to use, flexible operation, the scope of application is extensive and safe and effective, the advantage that side effect is little.
Description of drawings
Fig. 1 is used for the structure principle chart of the electric stimulation of artificial electric touch for the present invention;
Fig. 2 is used for the structural representation of the electric stimulation of artificial electric touch for the present invention;
Fig. 3 is the structural representation of the electrod-array of the embodiment of the invention;
Fig. 4 is the application sketch map that is used for the electric stimulation of artificial electric touch.
Among the figure: 1 is the electrod-array district, and 2 is fixed area, and 3 is lead, and 4 is the electric stimulation pulse output device, and 5 is electrod-array, and 6 are finger, and 7 is the ground electrode paster.
The specific embodiment
Below in conjunction with accompanying drawing, specify the present invention.Elaborate in the face of embodiments of the invention down: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Please consult Fig. 1 to Fig. 4 simultaneously, a kind of electric stimulation that is used to produce the human body electric touch comprises electric stimulation pulse output device 4, some electrod-arrays 5 and electrode patch 7.
Electric stimulation pulse output device 4 produces the respective electrical boost pulse in order to receive the instruction input of control side, and it further comprises: command receiver, controller and electrostimulator.Command receiver is in order to be digital signal with the instruction transformation that receives and to export controller to; Controller and instruction receptor connects, and is sent to electrostimulator in order to the boost pulse characteristic of selecting corresponding electrode in the electrod-array according to the command signal that receives and producing needs; Electrostimulator is connected with controller, in order to export corresponding electrode in boost pulse to the electrod-array according to the boost pulse characteristic that receives.Preferably, electrostimulator and controller adopt the Compex Motion II electrostimulator of Switzerland.
Electrod-array 5 is connected with electric stimulation pulse output device 4, and in order to refer to that with finger 6 the Pericarpium Arecae skin contacts and export electric stimulation pulse, the mechanoreceptor in the chafe makes it produce neural impulse, and then produces sense of touch.7 of electrode patchs form the negative pole of electric stimulation pulse input in order to be affixed on the back of the hand and ground connection.
The electric touch instruction has following corresponding relation with electrical stimulation pattern information; Controller is selected corresponding electrode in the electrod-array 5 after analyzing artificial sense of touch instruction, and regulates its input electric stimulation pulse characteristic.Dissimilar mechanoreceptors in the finger skin are excited by dissimilar electric stimulation pulses, produce corresponding sense of touch.Concrete; Electric touch instruction involving vibrations sense instruction, material texture sense instruction, extruding sense instruction and sense of dragging instruction; Corresponding, electrical stimulation pattern comprises four kinds of output modes: stimulate Pacini's corpuscles to produce the vibration sense, stimulate Wagner's corpuscles to produce the sense of material texture, stimulate Merkel's tactile disk to produce the extruding sense, stimulate Ruffini's corpuscle to produce sense of dragging.Wherein, the concrete electric current output of four kinds of output modes is as follows:
Stimulate the Wagner's corpuscles pattern: choose all electrodes in the electrod-array, feed the anode current of CF, dutycycle, waveform.
Stimulate the Merkel's tactile disk pattern: choose all electrodes in the electrod-array, feed the cathode current of CF, dutycycle, waveform.
Stimulate the Pacini's corpuscles pattern: choose the electrod-array medial electrode, feed the cathode current of CF, dutycycle, waveform; Remaining lateral electrode, the anode current of feeding CF, dutycycle, waveform.
Stimulate the Ruffini's corpuscle pattern: choose two electrodes of ad-hoc location, feed the anode current of CF, dutycycle, waveform.
Concrete stimulus intensity can be regulated through instruction setting, through instruction given tactile type of input and intensity, and just can this sense of touch of true reappearance on human body.And, also can stimulate a plurality of fingers simultaneously, produce combination tactile, let the experimenter that tactile experience more true to nature is arranged.
Electrod-array 5 is processed by the flexible PCB that with the polyimides is base material, and it can adopt one or more, specifically selects as required.As shown in Figure 3, electrod-array 5 comprises: electrod-array district 1, fixed area 2 and lead 3, and electrod-array district 1 is arranged on the fixed area 2, and it comprises some electrodes, and each electrode is connected with electrostimulator through lead 3, in order to the output electric stimulation pulse; Fixed area 2 adopts the substrate of polyimides flexible material, and the surface is provided with stickum, and is in order to be fixed on the finger end with wrapping after the electrod-array bending, similar with the adhesive bandage principle.Electrode surface scribbles inert metal, and protrudes from the flexible material surface.
As shown in Figure 4, below in conjunction with specific embodiment, be that example is elaborated to work process of the present invention with the electric touch instruction of importing " forefinger vibration " and " middle finger extruding ".Work process of the present invention may further comprise the steps:
1, command receiver, controller, electrostimulator and electrod-array are connected, are fixed on the finger end, the common electrical pole piece is affixed on the back of the hand and ground connection, positive pole and the negative pole imported as electric stimulation pulse respectively wrapping after the electrod-array bending.
2, input electric touch instruction " forefinger vibration " after the command receiver analyzing and processing, is transmitted corresponding electrical stimulation pattern information to controller, and controller is through analyzing stimulus modelity information to electrostimulator transmission electric stimulation pulse output signal.
3, after electrostimulator receives the electric stimulation pulse signal, to forefinger electrode in contact array in the appointment electrode, the transmission electric stimulation pulse.
4, the electrode in the electrod-array refers to Pericarpium Arecae skin transmission electric stimulation pulse to forefinger, makes the mechanoreceptor Pacini's corpuscles in the skin receive electricity irritation.After Pacini's corpuscles is upset, send the neural impulse of representative vibration sense to brain, human body sensory has the vibration sense to forefinger.
5, stop electric stimulation pulse input after, the Pacini's corpuscles in the forefinger no longer receives electricity irritation, forefinger is pallanesthesia.
6, input electric touch instruction " middle finger extruding " after the command receiver analyzing and processing, is transmitted corresponding electrical stimulation pattern information to controller, and controller is through analyzing stimulus modelity information to electrostimulator transmission electric stimulation pulse output signal.
7, after electrostimulator receives the electric stimulation pulse signal, to middle finger electrode in contact array in the appointment electrode, the transmission electric stimulation pulse.
8, the electrode in the electrod-array refers to Pericarpium Arecae skin transmission electric stimulation pulse to middle finger, makes the mechanoreceptor Merkel's tactile disk in the skin receive electricity irritation.After Merkel's tactile disk is upset, send the neural impulse of representative extruding sense to brain, human body sensory has the extruding sense to middle finger.
9, stop electric stimulation pulse input after, the Merkel's tactile disk of middle finger no longer receives electricity irritation, middle finger extruding sense disappears.
The present invention is through specific electrical stimulation pattern; To specifying the mechanoreceptor in the finger accurately to stimulate; Produce multiple electric touch such as vibration, extruding, twinge, both can control the sense of touch of single finger separately, also can stimulate a plurality of fingers simultaneously; Produce combination tactile, let the experimenter that tactile experience more true to nature is arranged.Native system is easy to use, regulate simple and easy, safe and effective, little to the side effect that human body causes.
The above; It only is preferable embodiment of the present invention; Be not that the present invention is done any pro forma restriction; Any content that does not break away from technical scheme of the present invention according to any simple modification, equivalent variations and the modification that technical spirit of the present invention is done above embodiment, all belongs to the scope of technical scheme of the present invention.
Claims (8)
1. an electric stimulation that is used to produce the human body electric touch is characterized in that, comprises electric stimulation pulse output device and some electrod-arrays, wherein,
Said electric stimulation pulse output device produces the respective electrical boost pulse in order to receive the instruction input of control side, and it further comprises:
Command receiver: in order to be digital signal with the instruction transformation that receives and to export controller to;
Controller: be connected with said command receiver, be sent to electrostimulator in order to the boost pulse characteristic of selecting corresponding electrode in the electrod-array according to the command signal that receives and producing needs; And,
Electrostimulator: be connected with said controller, in order to export corresponding electrode in boost pulse to the electrod-array according to the boost pulse characteristic that receives;
Said electrod-array is connected with said electric stimulation pulse output device, and in order to refer to that with finger the Pericarpium Arecae skin contacts and export electric stimulation pulse, the mechanoreceptor in the chafe makes it produce neural impulse, and then produces sense of touch.
2. the electric stimulation that is used to produce the human body electric touch according to claim 1 is characterized in that, also comprises an electrode patch, and said electrode patch forms the negative pole of electric stimulation pulse input in order to be affixed on the back of the hand and ground connection.
3. the electric stimulation that is used to produce the human body electric touch according to claim 1 is characterized in that, said electric touch instruction has corresponding relation with electrical stimulation pattern information;
Said corresponding relation is: controller is selected corresponding electrode in the electrod-array after analyzing artificial sense of touch instruction, and regulates its input electric stimulation pulse characteristic.Dissimilar mechanoreceptors in the finger skin are excited by dissimilar electric stimulation pulses, produce corresponding sense of touch.
4. the electric stimulation that is used to produce the human body electric touch according to claim 3; It is characterized in that; Said electric touch instruction involving vibrations sense instruction, material texture sense instruction, extruding sense instruction and sense of dragging instruction; Corresponding, electrical stimulation pattern comprises four kinds of output modes: stimulate Pacini's corpuscles to produce the vibration sense, stimulate Wagner's corpuscles to produce the sense of material texture, stimulate Merkel's tactile disk to produce the extruding sense, stimulate Ruffini's corpuscle to produce sense of dragging, be specially:
Stimulate the Wagner's corpuscles pattern: choose all electrodes in the electrod-array, feed the anode current of CF, dutycycle, waveform;
Stimulate the Merkel's tactile disk pattern: choose all electrodes in the electrod-array, feed the cathode current of CF, dutycycle, waveform;
Stimulate the Pacini's corpuscles pattern: choose the electrod-array medial electrode, feed the cathode current of CF, dutycycle, waveform; Remaining lateral electrode, the anode current of feeding CF, dutycycle, waveform;
Stimulate the Ruffini's corpuscle pattern: choose two electrodes of ad-hoc location, feed the anode current of CF, dutycycle, waveform.
5. the electric stimulation that is used to produce the human body electric touch according to claim 1 is characterized in that, said electrod-array is processed by the flexible PCB that with the polyimides is base material.
6. the electric stimulation that is used to produce the human body electric touch according to claim 5; It is characterized in that; Said electrod-array comprises: electrod-array district, fixed area and lead, and said electrod-array district is arranged on the said fixed area, and it comprises some electrodes; Said each electrode is connected with said electrostimulator through said lead, in order to the output electric stimulation pulse; Said fixed area adopts the substrate of polyimides flexible material, and the surface is provided with stickum, in order to be fixed on the finger end with wrapping after the electrod-array bending.
7. the electric stimulation of generation human body electric touch according to claim 6 is characterized in that said electrode surface scribbles inert metal, and protrudes from the flexible material surface.
8. the electric stimulation that is used to produce the human body electric touch according to claim 1 is characterized in that, said electrostimulator and controller adopt the Compex Motion II electrostimulator of Switzerland.
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| CN105278680A (en) * | 2014-07-15 | 2016-01-27 | 意美森公司 | Systems and methods to generate haptic feedback for skin-mediated interactions |
| CN106307803A (en) * | 2016-08-17 | 2017-01-11 | 上海交通大学 | Insole device for producing sole pressure sensing by utilizing electrical stimulation and application method |
| CN108733198A (en) * | 2017-04-17 | 2018-11-02 | 中国科学院沈阳自动化研究所 | Egersimeter system for generating artificial tactile and artificial tactile production method |
| CN108874150A (en) * | 2018-07-27 | 2018-11-23 | 华南理工大学 | A kind of virtual reality touch feedback interactive system |
| CN109782950A (en) * | 2019-01-04 | 2019-05-21 | Oppo（重庆）智能科技有限公司 | Touch electrode control method, device, storage medium and electronic equipment |
| CN111565588A (en) * | 2018-01-03 | 2020-08-21 | Nse 产品公司 | Fingertip-mounted micro-current device for skin |
| CN112379772A (en) * | 2020-11-05 | 2021-02-19 | 厦门大学 | Touch reproduction method and device for droplet dropping skin based on electric stimulation |
| CN112915384A (en) * | 2021-02-26 | 2021-06-08 | 清华大学深圳国际研究生院 | Data acquisition and analysis device for simulating touch by nerve electrical stimulation |
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