CN104112064B - Method for establishing touch comfort level model based on Weber-Fechner law - Google Patents
Method for establishing touch comfort level model based on Weber-Fechner law Download PDFInfo
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Abstract
Provided is a touch comfort level model based on the Weber-Fechner law. A relation model between physical stimulation and sensation quantity is constructed according to the Weber-Fechner law first; a functional relation between the sensation quantity and the comfort level is then put forward as a matter of experience; ultimately, fitting is carried out on model parameters through experimental data to obtain the touch comfort level model. The touch comfort level model can be used for optimal control of a rubbing process of a bath care robot and can also be used for a control system of related intelligent man-machine engineering equipment.
Description
Technical field
The present invention relates to human engineering field, specifically to set up tactile body-sensing based on Weber Fechner law comfortable for one kind
The method of degree model.
Background technology
It is comprehensive that comfort level refers to that people are carried out from the physiology and psychological aspects satisfaction experienced to objective environment
Close and evaluate.Affected by various factors and environmental condition, comfort level can assume Different Results because of individual variation.At present to relax
The research of appropriateness focuses mostly in weather on human comfort impact and the impact to human comfort for the road vehicle.But in health
Nursing, help the elderly and help the disabled etc. in device, tactile body-sensing comfort level is a very important index, for the research of tactile comfort level
Also it is rarely reported both at home and abroad.By inspiring that psychophysicss are studied, the present invention constructs a tactile based on energy function and relaxes
Appropriate model.
Content of the invention
For solving above-mentioned technical problem, proposition is a kind of to set up tactile body-sensing comfort level model based on Weber Fechner law
Method, using Weber Fechner law reasonable construction model so as to be suitable for various intelligent nursing systems, help the disabled help the elderly device, with
And in the process control of intelligent ergonomic device of correlation.
For realizing above-mentioned technical purpose, the technical solution adopted in the present invention is：One kind is built based on Weber Fechner law
The method of vertical tactile body-sensing comfort level model, stimulates E using Weber Fechner law structural physicalsPass and sensation amount k between
It is model, sensation amount, m, x, y, z are sensitive parameter, and wherein, t is people's body-sensing
The time that should stimulate, v is physical stimulation speed, N is human body sensing pressure；Sensation amount k and comfort level g (k) are proposed according to model
Between functional relationship, comfort level, wherein,,As control function
The parameter of the curve rate of decay, k is sensation amount；By t, v, N data of collection, model parameter g (k) and k are fitted, obtain
To tactile body-sensing comfort level model,
Wherein,For the coefficient of friction between human body and rubber.
The invention has the beneficial effects as follows：Tactile body-sensing comfort level model based on Weber Fechner law disclosed by the invention
It is the body rubbing mechanism design for old bathing hygiene care robot, by experimenter's actual test, meet physical stimulation
Relation with actual measurement comfort level.Because this model Main physical stimulated as frictional force, speed and time, therefore can easily push away
Wide to various intelligent nursing systems, help the disabled help the elderly device and correlation intelligent ergonomic device process control in.
Brief description
Fig. 1 is the parameter curve fit figure of the present invention；
Fig. 2 is the structural representation of the experimental provision of the present invention；
In figure：1st, driven pulley, 2, drivewheel, 3, motor, 4, crawler belt, 5, rubber, 6, bracket, 7, balancing weight, 8,
Human body.
Specific embodiment
（One）Structural physical stimulates the relational model and sensation amount between
Weber-Fechner law（Weber-Fechner Law, W-F law）Be 1850 by Fechner grinding in weber
On the basis of studying carefully, the research being proved by psychophysical testing and being derived from stimulates relation between physical features and sensory experience
Law.This theorem can determine that the physical quantity of various sensory thresholds and measurement stimulation and psychological feelingses close under moderate strength stimulates
System.Experiment proves the response magnitude of human bodyWith external environment quantity of stimulusBetween functional relationship：
,For weber constant（1）
Tactile comfort level sensation evaluation in based on it is assumed hereinafter that：
A:External environment quantity of stimulusRegard the energy value of absorption of human body as；
B:?Regard the response magnitude to institute's irriate in friction process for the human body as.
C:Weber coefficient a is upset in friction process by human body and is determined.It is normal for same stimulation a
Number, the comfort level of the present invention considers the frictional force and deformation stimulation to human body, a can be regarded as the weight of two kinds of stimulations.
Therefore Weber-Fechner law can be deformed into：
（2）
WhereinThe heat producing for frictional force,The energy absorbing for skin deformation when giving a rubdown with a damp towel, its computational methods is
According to experimental provision（See accompanying drawing）And experimental design utilizes frictional force and elastic deformation formula calculated, substitute into above formula and obtain
Arrive：
（3）
Due to being sliding friction between skin and rubber, skin deformation is less, and can quickly rebound, and elastic deformation is inhaled
The energy received is negligible, and therefore model can be reduced to：
（4）
（5）
If only considering the stimulation to human body for the frictional force, thereforeThis value can be set as 1.In this formula,For controlled quentity controlled variable,It is the variable relevant with bather's skin,For human body to the pressure rubbing head with the hands,Purpose be in order that
Value is more than zero, does not affect evaluation result by mathematical proof.
Different to the sensitivity of different physical stimulations in view of human body, I am to the time, speed, pressureThree things
Reason stimulates adds Sensitivity Index, and quick degree is higher, and its power is lower, otherwise higher.Thus, by Weber-Fechner law function
Extend further to following form：
（6）
（Two）Functional relationship between sensation amount and comfort level
Human response's amount that human body produces because being upset during giving a rubdown with a damp towelValue determines human body to the process of giving a rubdown with a damp towel
Subjective comfort impression, only determine comfort level withRelation between value could select optimal parameter of giving a rubdown with a damp towel, makes stranding
The comfort level that bath process meets human body requires.
Need now to construct a comfort level function, withFor independent variable so as to curve shape meets human comfort
Degree sensation.Comfort level functionWithBetween not simple monotonic relationshi,People can be comfortable within the specific limits,
Too low or too high people can feel uncomfortable, and this characteristic has similar distribution character to normal distyribution function, and normal function is public
Formula is：
（7）
For variance,For expected value.Comfort level in order to preferably react human body is felt, at this to normal distyribution function
Simply adjusted：
（8）
Wherein,As the parameter of the control function curve rate of decay, can be with the shape of controlling curve.
For the comfort level function assumedMake following provisions：
A：Specify that its maximum is 1；
B：Specify that its initial value is 0.5,（And do not apply environmental stimuliWhen, comfort level is 0.5）
According to above initial condition and restrictive condition,, bring into（8）Permissible
ObtainExpression be：
（9）
Value and fraction time, friction velocity, coefficient of friction between human body and rubber, human body and rubber
Between pressure, and sensitivity parameterRelevant.
Human body can be obtained by the method matching of experiment to the sensitivity of each physical stimulation and the parameter of comfort level function
Arrive.
（Three）Estimating The Model Coefficients
Experiment needs different volunteers to carry out under varying experimental conditions, after each frictional experiment terminates, volunteer
Evaluation criterion according to oneself, to determine the subjective comfort under this experiment condition, assigns the numerical value between one [0,1] to it,
This numerical value shows more greatly more comfortable.
Experiment condition sets as shown in table 1, the total time that rubber runsAnd speedValue have 3 kinds of values respectively,
Friction pressure has 5 kinds of values, and such one has 45 kinds of experiment conditions.Every volunteer carries out 45 frictional experiments, and provides phase
The comfortable angle value answered.
Device employed in frictional experiment is rubbing device, and this device is by driven pulley, drivewheel, motor, shoe
Band, rubber, balancing weight and for supporting the bracket of human body to be rubbed to form, drivewheel is driven by motor, by crawler belt
Drive driven pulley motion, crawler belt be provided with and treat the friction rubber that rubbed of human body, inside crawler belt on be provided with for
Pressure puts the balancing weight of rubber, is built-in with pressure transducer for induction pressure N in rubber.Drivewheel drives driven rotation
Dynamic, can get the data such as velocity of rotation, rotation time, pressure data is simulated by balancing weight and rubber.
Table 1：Rub with the hands the total time that head runs during experiment, speedAnd on-load pressureValue
| Total time t (s) | 10 | 30 | 50 | ||
| Speed v (m/s) | 0.03 | 0.12 | 0.21 | ||
| Pressure（N） | 0.82 | 1.64 | 2.45 | 3.27 | 4.08 |
Different volunteers often provides different numerical value according to the subjective feeling of oneself to same stimulation, so will
The process that initial data is standardized, using " maximum, minimum " method[[ii]]It is normalized.Comfort level normalizing standardization formula
As follows：
（10）
ForIndividual volunteer,ForSecondary test,It is respectively theIndividual volunteerSecondary experiment is relaxed
The normalized value of appropriateness and response value,TheThe maximum of individual 45 experiments of volunteer and minima.
5 volunteers are selected to participate in experiment, obtained experimental data is used for matching comfort level function, for avoiding repeating in fact
Test the excessive friction of the fatigue causing volunteer and skin, everyone is conducted batch-wise experiment in the different periods.5 volunteers'
225 groups of dataNonlinear least square fitting is carried out to formula, the matched curve obtaining is as shown in Figure 2.
Obtaining comfort level pattern function according to fitting result is：
（11）
（12）.
Claims (1)
1. a kind of based on Weber Fechner law set up tactile body-sensing comfort level model method it is characterised in that：Taken uncommon using weber
Law structural physical of receiving stimulates EsRelational model and sensation amount k between, sensation amount
, m, x, y, z are sensitive parameter, and wherein, time that t stimulates for human body sensing, v is physical stimulation speed, N is human body sensing pressure；Root
According to model, the functional relationship between sensation amount k and comfort level g (k), comfort level are proposed
, wherein,,As the parameter of the control function curve rate of decay, k is sensation amount；Using t, v, N data gathering to model
Parameter g (k) and k are fitted, and obtain tactile body-sensing comfort level model,
Wherein,For the coefficient of friction between human body and rubber.
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| CN106027291B (en) * | 2015-11-25 | 2019-03-12 | 北京邮电大学 | BE business QoE evaluation method based on weber Fechner theorem |
| CN110602444B (en) * | 2019-08-07 | 2020-10-02 | 西安邮电大学 | Video summarization method based on Weber-Fisher's law and time domain masking effect |
| CN115919524B (en) * | 2022-12-02 | 2023-06-23 | 湖南康立人医疗设备有限公司 | Weber-Fisher law relation model and spine decompression traction device thereof |
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| CN101201907A (en) * | 2007-10-24 | 2008-06-18 | 中山大学 | Hot comfortableness simulation model based on fuzzy neural network |
| CN102507151A (en) * | 2011-10-25 | 2012-06-20 | 复旦大学 | Reading desk lamp evaluation method based on ergonomic experiment |
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| JP5212015B2 (en) * | 2008-10-27 | 2013-06-19 | アイシン精機株式会社 | Damping force control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201907A (en) * | 2007-10-24 | 2008-06-18 | 中山大学 | Hot comfortableness simulation model based on fuzzy neural network |
| CN102507151A (en) * | 2011-10-25 | 2012-06-20 | 复旦大学 | Reading desk lamp evaluation method based on ergonomic experiment |
Non-Patent Citations (3)
| Title |
|---|
| Skin-textile friction and skin elasticity in young and aged persons;L.-C. Gerjardt等;《Skin Research and Technology》;20090204;全文 * |
| 不同性别人体皮肤摩擦不舒适度感知功能的研究;李炜等;《摩擦学学报》;20120531;第32卷(第3期);全文 * |
| 人体舒适度研究现状及其开发应用前景;刘梅等;《气象科技》;20020228;第30卷(第1期);全文 * |
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