触觉体感舒适度模型的构建及其应用  

Construction of Comfort Degree Model on Sense of Touch and Its Applications

作　　者：侯海燕[1] 符志鹏[1] 胡志刚[1] 

机构地区：[1]河南科技大学医学技术与工程学院,河南洛阳471023

出　　处：《控制工程》2016年第4期602-607,共6页Control Engineering of China

基　　金：国家国际科技合作项目(2011DFA10440-3);河南科技大学青年基金项目(2013QN045)

摘　　要：舒适度对于人体工程学研究,尤其是在老年护理、康复装置研究中尤为重要,但是目前触觉体感舒适度的研究尚处于起步阶段,更没有可用于系统控制的舒适度模型。为了建立用于卫生护理机器人搓澡系统的触觉体感舒适度模型,首先通过韦伯-费希纳定律和能量函数,将物理刺激与心理反应相联系;然后通过实验及参数拟合,建立舒适度与心理反应量关系函数,从而构造人体触觉体感舒适度模型。可将该模型作为搓澡机器人优化控制系统的目标函数,采用遗传算法实现优化控制,在样机上的测试结果证明该模型效果良好,具有推广应用价值。Comfort degree is very important in ergonomics research,especially in the research of elderly health care device and rehabilitation device.But it is new and rarely researched.There is no control system that uses this kind of comfort model.This paper proposes a model to describe the comfort degree on sense of touch,and this model is used in the bath system of health care robot.Firstly,fuse the perception and outside stimulation by the Weber-Fechner law and the energy function.Then,build functions with the comfort degree and level of perception value as parameters.Finally,construct the comfort model by using the experiment data to fit the parameters.This model can be used as the objective function of the optimal control system and genetic algorithm is adopted to realize optimal control.The model is proved efficient on the test system,and it is valuable to be utilized in other systems.

关 键 词：卫生护理机器人搓澡系统 触觉体感舒适度 韦伯-费希纳定律 优化控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]