面向脑卒中康复的气袋式触觉反馈单元特性研究  

Characteristics of Air Bag Haptic Feedback Unit for Stroke Rehabilitation

作　　者：张超宙 李敏[1,2] 吴宗林 何博 谢俊 徐光华[1,2] ZHANG Chaozhou;LI Min;WU Zonglin;HE Bo;XIE Jun;XU Guanghua(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;State Key Laboratory for Manufacturing Systems Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学机械制造系统工程国家重点实验室,西安710049

出　　处：《西安交通大学学报》2023年第6期1-9,共9页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(51975451)。

摘　　要：针对现阶段气袋式触觉反馈装置难以准确呈现交互效果及同时表征触觉力和触觉面积的问题,开展了气动触觉单元的静态特征和动态特征研究。依据气动触觉单元的几何约束条件建立了静态压力分布模型,类比电路电容放电模型构建了动态压力响应模型。制作了3种规格的气袋触觉单元并进行了特征实验测试,结果表明,静态压力分布模型的拟合触觉面积误差为6.94%,中型气袋(14.4mm×9.4mm)及以下规格的气动单元响应时间在0.5s以内。采用中型气袋搭建了躯干触觉反馈系统,并进行了触觉感知实验,通过调节充气限制高度以表征不同的触觉面积,通过改变气袋气压大小以表征不同的触觉力。实验结果表明,被试者对其产生的触觉面积和触觉力感知识别率分别为87.25%和89.67%。气袋式触觉反馈单元特性研究为触觉反馈装置的设计参数选择提供了依据,可以使脑卒中患者在康复训练中快速感受到触觉面积和触觉力,从而提高患者的康复训练体验。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 capacitive 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 mm×9.4 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.

关 键 词：气动触觉单元 静态特征 动态特征 触觉感知 

分 类 号：TP203[自动化与计算机技术—检测技术与自动化装置]