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| The Regulatory Mechanism of Pinching Force Based on Vibration Feedback |
| Wang Ziwen, Li Ke#* |
| (School of Control Science and Engineering, Shandong University, Jinan 250061, China) |
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Abstract In order to design a feedback channel conforming to the body's own control system and sensing ability, this paper applied tactile reproduction technology, took pinching force as the perception information and vibration stimulation as the feedback information of non-pattern matching, and finally built a force-haptic perception feedback system. On this basis, the ability to control the pinching force with feedback and without feedback was assessed in 16 healthy subjects. Meanwhile, the pinching force was detected and analyzed in sections through “steady force”, “boundary proximity ratio” and “upper/lower limit relative deviation” etc. The results of three force levels, 0~10 N, 10~20 N and 20~30 N, all showed that there were significant differences in “tachieve” between the tests with and without feedback (P<0.01), which demonstrated the effectiveness of the vibration feedback device. Additionally, the median value of “boundary proximity ratio” was always lower than 0.01, indicating that people were likely to complete the experiment requirement with less force. Through the analysis of stable period andadjustive period, a similar dependent mechanism was presented that the pinch relied on the human feedforward control at low force level, while the feedback control mainly played a regulatory role at high force level.
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Received: 12 November 2020
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