用于假肢手感知反馈的选择性仿生触觉传感微系统研究

智能假肢手近年来备受康复领域关注，柔性触觉传感器因能赋予其类人皮肤触觉感官功能成为研究热点，但目前器件仅能感知单一压力信息，而对压力和剪切力无选择性辨识且不与残肢端形成刺激反馈闭环，限制假肢佩戴者实施抓握等灵巧动作。受手指“涡纹”螺旋结构赋予人手对物体状态模式精确感知能力的启发，本项目拟构筑具有“双螺旋”仿生指纹结构微电容式柔性力学传感器，结合柔性反馈电路模块设计以构建仿生触觉传感微系统；通过建立传感响应性能与任意施加力之间普适性数学关系模型，实现在不需复杂信号解析或算法学习条件下，单一仿生器件对径向垂直压力、切向静摩擦力及滑动摩擦力精确感知与选择性辨识，并阐明其响应机理；同时柔性反馈电路能将不同类型力响应信号转换为特定脉冲频率电信号，达到与人手不同感官区域神经感知模式相匹配的要求，最终完成微系统在智能假肢手“人-器”融合感知与反馈方面性能演示与验证，为发展人机交互技术提供理论与实践基础。

Recently, the neuroprosthetics have attracted much attention in the field of rehabilitation. Among various technical approaches, flexible tactile sensors have become one of the active and flouring research topics because of their potential in endowing the neuroprosthetics with the function of perception. However, these existing devices can only sense the pressure rather than selectively respond to the pressure and friction forces, and not form the stimulus feedback loops with the disabled limbs, which restricts the prosthetic wearers to perform dexterous activities like grabbing objects. Inspired by the helical “swirls” microstructure of fingerprints, which can endow hands with the perception of the status mode of objects, this project plans to study on the design and preparation of “double-helical” bionic “swirls” structure based flexible micro-capacitive force sensor, which is employed to construct flexible tactile sensory microsystem integrated with the designed module of a flexible feedback circuit. Through establishing the general mathematical model between sensory response performances and random applying forces, the obtained bionic sensor can realize the selective response and identification to normal forces, static friction forces, and sliding friction forces without the complicated signal analysis or algorithmic learning. The corresponding mechanism is expected to be elucidated. In addition, the flexible feedback circuit can transmit the response signals of different forces to the various electrical signals with specific pulse frequency, achieving the match with the patterns of neural perception in the different sensory areas of human hands. Finally, the “human-device” collaboration of the microsystem with the perception and feedback of intelligent prosthetic hands will be demonstrated, which provides the theoretical principles and practical fundament for the development of human-computer interaction technology.