时空二维机器人电触觉临场感模型研究  

Study on the Model of Two-dimensional Spatiotemporal Robot Electrotactile Telepresence

作　　者：帅立国[1] 况迎辉[1] 王雪梅[1] 许艳芳[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《机器人》2005年第5期441-444,共4页Robot

基　　金：国家自然科学基金资助项目(60475033)

摘　　要：针对机器人电触觉临场感应用的刺激电流参数设计,阐述了电刺激触觉的实现原理,建立了基于时间和空间的二维电刺激触觉临场感模型,并进一步建立了触觉容许限与刺激电流之间的数学关系.模型分析认为,刺激电流的动态范围是电触觉研究的重要内容,最佳电流是若干触点组最佳刺激电流的集合,极端情况下,各触点的刺激电流须单独进行设定.Aiming at providing a current design method for electrotactile telepresence application in robot field, this paper first describes the principle of electrotactile, then establishes a model for the two-dimensional spatiotemporal electrotactile telepresence, and sets up the mathematical relationship between the tolerable fluctuating limits and the stimulus current. Analysis shows that the dynamic range of stimulus current is the key direction of electrotactile research, the ideal stimulus current should be the set of many small element-group＇s ideal current sets, and each element＇s current should be set separately in the worst case.

关 键 词：电触觉 触觉再现 时空二维模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]