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首页> 外文会议>IEEE Annual International Conference on Cyber Technology in Automation, Control and Intelligent Systems >Proposal of a tactile feedback model with reaching motion based on nonlinear dynamics of the mechanoreceptors and finger-tip-consideration of a task space P-SD Servo controller
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Proposal of a tactile feedback model with reaching motion based on nonlinear dynamics of the mechanoreceptors and finger-tip-consideration of a task space P-SD Servo controller

机译：基于机械感受器的非线性动力学和任务空间P-SD伺服控制器指尖考虑的具有到达运动的触觉反馈模型的建议

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This paper, based on the skin-sensor dynamics model [20] and the anatomical insights, we develop a candidate of the tactile feedback controller for the arm reaching tasks. In the controller, the signal from the FA1(SA1) receptors as the velocity sensors is used for the tactile feedback like task-space P-SD Servo. The velocity of the fingertip seems to be affected by the skin and receptor dynamics. Then the sensor output of the task space velocity signal becomes sensitive in the low-load region. Especially, if the sensor is in the high-load region, the sensor output will be kept but the resolution become low and is able to avoid overload output. This paper focused on the finger-tip dynamics that consists of the tissue and the cutaneous mechanoreceptors called FA1(SA1), and investigate how they affect the control strategy of the tracing motion. In the experiments, we analyzed the nonlinear biomechanical properties of the cutaneous surface and showed that the subcutaneous mechanoreceptors affect human control skill learning. In these experiments, the validity of our hypothesis was investigated.
机译：本文基于皮肤传感器动力学模型[20]和解剖学见解，我们开发了一种触觉反馈控制器的候选对象，用于手臂到达任务。在控制器中，来自FA1（SA1）接收器作为速度传感器的信号用于像任务空间P-SD伺服这样的触觉反馈。指尖的速度似乎受皮肤和受体动力学的影响。然后，任务空间速度信号的传感器输出在低负载区域变得敏感。特别是，如果传感器处于高负载区域，则传感器的输出将保持不变，但分辨率变低，并且可以避免过载输出。本文重点研究了指尖动力学，该动力学由组织和称为FA1（SA1）的皮肤机械感受器组成，并研究了它们如何影响示踪运动的控制策略。在实验中，我们分析了皮肤表面的非线性生物力学特性，并表明皮下机械感受器会影响人类控制技能的学习。在这些实验中，我们的假设的有效性进行了调查。

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