Mechanical analysis of the active tactile sensing based on the dynamics of the tactile receptors

本研究分析了人的主动感知能力。研究的重点是机械敏感受体和皮肤结构对动态感知能力的影响。首先，建立了机械敏感受体与皮肤结构的数学模型。然后，将该模型应用于肌肉纺锤体机制，得到了一种利用随机共振增强感觉运动技能的新方法。其次，研究了指尖运动与感知之间的关系。然后，给出了人体运动的触觉反馈方法，形成了任务空间P-SD伺服控制器。考虑到皮肤和机械敏感感受器的动态特性，该控制器可以对任务空间速度进行非线性反馈。此外，研究了人体运动的参数辨识方法，得到了基于雅可比矩阵的SMA作动器系统控制器和预测控制器。

This research analyzes the active sensing ability of the human. Key point of the research is to investigate how the mechanosensitive receptors and the skin structure affect the dynamic sensing ability. At first, a mathematical model of the mechanosensitive receptors and the skin structure was developed. Then, the proposed model was applied to the muscle spindle mechanism and a new method to enhance the sensory-motor skill by using a kind of stochastic-resonance was obtained.Next, the relation between the finger-tip motion and the perception was examined. Then, tactile feedback method of the human motion was obtained which formed a task space P-SD servo controller. Consider about the skin and the mechanosensitive receptors dynamics, the proposed controller can feedback the task-space velocity nonlinearly. In addition, parameter identification method of the human motion was examined and a Jacobian based controller for the SMA actuator system and the predictive controller was obtained.