Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is conside...Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is considered. It is found that frequency, duty ratio, and voltage amplitude of electrical stimulus pulse determine the sensitivity of finger. The effects of materials, sizes, arrangements and shapes of electrodes on sensitivity of finger are analyzed. Finally, the tactile tele presence system is designed to experimentally confirm that the robot with electrotactile feedback glove can manipulate dexterous robotic multi fingered hand and identify and classify three sorts of objects.展开更多
Traditional Chinese medicine(TCM)pulse diagnosis has a long history,characterized by doctors forming subjective diagnostic opinions in their minds based on the patient’s pulse felt with their fingertips,rather than s...Traditional Chinese medicine(TCM)pulse diagnosis has a long history,characterized by doctors forming subjective diagnostic opinions in their minds based on the patient’s pulse felt with their fingertips,rather than simply diagnosing based on pulse waves.As a result,TCM pulse diagnosis is significantly limited by spatial location,meaning that doctors and patients need face-to-face consultations,making remote diagnosis difficult.To address this spatial limitation,we propose a pulse reconstruction scheme based on the principle of electrotactile stimulation,allowing a remote feeling of pulses through electrical stimulation of the fingertips.We develop a simple system that uses electrical stimulation circuits and flexible fingertip electrodes,enabling doctors to remotely“touch”the patient’s pulse by placing their fingers on these electrodes.We investigate the relationship between electrical stimulation settings and tactile sensations,determining optimal ranges(1-6 mA current,100 V voltage,100-800μs pulse width,and 100 pulses per cycle)that mimic a tactile pressure of 0.17-1 N.Additionally,wearable sensors capture pulse signals,converting them into electrical parameters that our device uses to recreate pulse sensations through electrical stimulation.The results indicate that remote pulse reconstruction through the electrotactile approach is feasible,providing a reference for remote TCM pulse diagnosis.展开更多
文摘Progress is described regarding the development of a new electrotactile feedback glove designed for application to dexterous robot. The sensitivity of operator's finger against electrical stimulus pulse is considered. It is found that frequency, duty ratio, and voltage amplitude of electrical stimulus pulse determine the sensitivity of finger. The effects of materials, sizes, arrangements and shapes of electrodes on sensitivity of finger are analyzed. Finally, the tactile tele presence system is designed to experimentally confirm that the robot with electrotactile feedback glove can manipulate dexterous robotic multi fingered hand and identify and classify three sorts of objects.
基金the National Natural Science Foundation of China(12472303,32101117,T2288101,U20A20390,11827803)the National Key Research and Development Program of China(2022YFB3205600,2023YFC3603500)the Fundamental Research Funds for the Central Universities.
文摘Traditional Chinese medicine(TCM)pulse diagnosis has a long history,characterized by doctors forming subjective diagnostic opinions in their minds based on the patient’s pulse felt with their fingertips,rather than simply diagnosing based on pulse waves.As a result,TCM pulse diagnosis is significantly limited by spatial location,meaning that doctors and patients need face-to-face consultations,making remote diagnosis difficult.To address this spatial limitation,we propose a pulse reconstruction scheme based on the principle of electrotactile stimulation,allowing a remote feeling of pulses through electrical stimulation of the fingertips.We develop a simple system that uses electrical stimulation circuits and flexible fingertip electrodes,enabling doctors to remotely“touch”the patient’s pulse by placing their fingers on these electrodes.We investigate the relationship between electrical stimulation settings and tactile sensations,determining optimal ranges(1-6 mA current,100 V voltage,100-800μs pulse width,and 100 pulses per cycle)that mimic a tactile pressure of 0.17-1 N.Additionally,wearable sensors capture pulse signals,converting them into electrical parameters that our device uses to recreate pulse sensations through electrical stimulation.The results indicate that remote pulse reconstruction through the electrotactile approach is feasible,providing a reference for remote TCM pulse diagnosis.
