Research on high definition tactile display based on the principle of tactile primary colors

我们的主要研究结果如下。(1)By测量由电刺激产生的振动感觉的频率辨别能力，我们发现当我们使用阳极刺激时，我们不能正确地感知超过60Hz的刺激频率。这一结果表明，作为高频振动感受器的环层小体没有受到刺激，这验证了我们的“触觉原色”原理。（2）实现了基于形状记忆合金基体的新型触觉显示。目的是实现压力感觉的密集呈现，这是电刺激的弱点。此外，为了在最短时间内驱动显示器，提出了一种新的线性规划控制算法。（3）进行刺激电流的反馈控制，该刺激电流使用皮肤上的电阻抗信息以稳定电刺激中的感觉。(4)In为了使电触觉刺激能够到达身体的其他部位，提出了扩散电流的技术以防止疼痛感觉。这是通过在皮肤和电极之间安装高电阻层来实现的。（5）设计并制作了指尖64点显示器和前额512点显示器。现在，在视障学校中，作为视障者的感觉替代系统，重复进行该测试。(6)By将视觉中遵循的实验程序应用到触觉中，我们发现视觉中的“后效运动”也出现在触觉中。

The main results of our research are as follows.(1)By measuring the frequency discrimination capability of the vibratory sensation that occurs by electric stimulus, we found out that we do not perceive stimulation frequency of more than 6OHz correctly, when we use anodic stimulation. This result suggests that the Pacinian corpuscle which is a receptor for high frequency vibration was not stimulated, which verified our principle of "tactile primary colors".(2)The new tactile display using the shape memory alloy matrix was realized. The aim was to realize dense presentation of pressure sensation, which is a weak point of an electrical stimulation. Moreover, to drive the display in minimum time, the control algorithm using the linear programming was newly proposed.(3)Feedback control of the stimulus current that uses the electric impedance information on the skin for stabilization of the feeling in an electric stimulus was performed.(4)In order to enable electrotactile stimulation to other parts of the body, the technique of diffusing current was proposed to prevent pain sensation. It was achieved by mounting a high resistance layer between the skin and an electrode.(5)The 64-point display for a fingertip and the 512-point display for forehead were designed and fabricated. In the visually-impaired school, the test is repeated as a sensory substitution system for a visually impaired person now.(6)By applying the experiment procedure followed in vision to a tactile sense, we found out that "Motion After Effect" in vision arose also in a tactile sense.