基于振动反馈的手指捏力响应调控机制研究  

The Regulatory Mechanism of Pinching Force Based on Vibration Feedback

作　　者：王子文 李可[1] Wang Ziwen;Li Ke(School of Control Science and Engineering,Shandong University,Jinan 250061,China)

机构地区：[1]山东大学控制科学与工程学院,济南250061

出　　处：《中国生物医学工程学报》2021年第5期567-573,共7页Chinese Journal of Biomedical Engineering

基　　金：国家自然科学基金(62073195);山东省重点研发计划项目(2019GSF108164);山东省重点研发计划项目(2019GSF108127)。

摘　　要：本研究旨在设计一个顺应人体自身调控系统和感知能力的信息反馈通道。应用触觉再现技术,以人手捏力为感知信息,以振动刺激作为非模式匹配反馈信息,搭建力触觉-振动感知反馈系统,并以此作为触觉感知信息向人体传输的桥梁。在此基础上,对16名健康受试者开展力触觉-振动感知反馈实验,以测试受试者分别在有反馈和无反馈作用下对于捏力的调控能力。采集受试者的捏力信号,并通过稳态终值、边界接近比、上/下限相对偏离度等参数对其进行分段研究。统计分析结果表明,在0~10、10~20、20~30 N这3个力量等级下,有反馈和无反馈测试之间的"完成时间"均存在显著性差异(P<0.01),验证了振动反馈设备的有效性。此外,"边界接近比"的中值始终低于0.1,说明人体在捏力调控过程中,总是趋向于用较小的力完成实验要求。经过对力量曲线稳定期和调整期的多项分析,捏力控制都展现出来了相似的前馈反馈依赖机制,即在低力量等级时,主要依赖于人体前馈控制;而在高力量等级时,反馈起主要调节作用。In order to design a feedback channel conforming to the body’s own control system and sensing ability,this paper applied tactile reproduction technology,took pinching force as the perception information and vibration stimulation as the feedback information of non-pattern matching,and finally built a force-haptic perception feedback system.On this basis,the ability to control the pinching force with feedback and without feedback was assessed in 16 healthy subjects.Meanwhile,the pinching force was detected and analyzed in sections through"steady force","boundary proximity ratio"and"upper/lower limit relative deviation"etc.The results of three force levels,0~10 N,10~20 N and 20~30 N,all showed that there were significant differences in"tachieve"between the tests with and without feedback(P<0.01),which demonstrated the effectiveness of the vibration feedback device.Additionally,the median value of"boundary proximity ratio"was always lower than 0.01,indicating that people were likely to complete the experiment requirement with less force.Through the analysis of stable period and adjustive period,a similar dependent mechanism was presented that the pinch relied on the human feedforward control at low force level,while the feedback control mainly played a regulatory role at high force level.

关 键 词：触觉再现 振动反馈 捏力 振动编码 

分 类 号：R318[医药卫生—生物医学工程]