Experimental Study On Texture Haptic Information Acquisition And Perception Characteristics

Texture tactile perception is the sensation of sags and crests when people touch a textured object surface.Texture tactile perception,as a person's perception of objective haptic stimuli,the study of its perceptual characteristics and laws is of great guiding significance for the realization of realistic haptic rendering and precise teleoperation.In the past,the research on texture tactile perception characteristics mostly used texture samples for subjective perception experiments,and measured the variation law of human subjective texture roughness intensity under certain physical properties of texture and different levels,such as texture height,space period,granularity,etc.Texture tactile perception is a complex system of multiple input /multiple output between objective stimuli and subjective perception.The physical properties of real textures are diverse,and different physical properties and experimental conditions may affect the texture haptics.Therefore,it is necessary to quantitatively analyse the texture tactile stimulus feature parameters and texture tactile sensation and establish a relationship model between them.This paper studies the law of texture tactile stimuli and subjective perception and attempts to establish a quantitative relationship model describing objective tactile stimuli and subjective perception.Firstly,a texture tactile perception experiment platform was built,which can measure the tactile interaction information such as contact force / acceleration /displacement when contacting the textured surface in real time,and the objective tactile stimulation when interacting with the textured surface was measured.Then based on the method of non-metric multi-dimensional scale analysis,the dimension and measurement of the texture subjective perception space were studied,and it was concluded that the texture perception space can be described by two dimensional feature parameters.At the same time,combining with previous researches,the physical meaning of subjective perception spatial feature parameters was initially discussed.Next,through correlation analysis and regression analysis,the vibration energy,vibration frequency,equivalent stiffness coefficient and force change rate were determined from the texture tactile interaction information.And these 4physical feature parameters were used as the input parameters of the texture perception model.Next,the radial basis neural network model was used to establish the relationship model between the texture objective stimulus feature parameters and the subjective texture perception spatial metric.Finally,by using the perception model to predict the roughness difference of real texture samples and comparing with the previous subjective perception experiment results,we found that the quantitative relationship model has better prediction accuracy and the multi-input / multi-output relationship model can fully reflect the impact of texture tactile stimulation on subjective feelings.