基于柔性传感的假肢手感觉信号检测及感觉神经反馈方法研究

Amputees need prostheses to restore their lost limb functions, and the coordination and unification of motion and sensation functions is very critical to realize a natural and precise control of prosthetic hands. However, most of the current researches on prosthetic systems are mainly focused on the realization of motion function, and the reestablishment of sensation function is less studied, which would limit the actual application of prosthetic systems. In order to realize the sensation function of prosthetic systems, in this project, the sensory (tactile/slip) signal acquisition, sensory information recognition, and neural feedback for prosthetic hands will be investigated. Flexible piezoelectret transducer technology will be applied to acquire the sensory signals of prosthetic hands, where the microstructure of transducer materials will be designed and optimized to realize the precise detection of both tactile and slip signals with a single transducer; by using the trans- and intra-cutaneous electrical stimulation, the introduction of sensory feedback and information transmission will be studied, then a proper and effective neural feedback approach will be explored by comparison of the two methods, and finally the sensation function recovery will be realized for amputees by establishment of an noninvasive or minimally-invasive, accurate, and stable neural feedback strategy; by developing the closed-loop prosthesis control system based on the sensory neural feedback and optimizing the coordinative control performance of sensation and motion functions, prosthetic systems with sensory neural feedback function will be theoretically and technically supported. The implementation of this study is of great importance in the improvement of prosthesis functions.

截肢者需要佩戴假肢以恢复其丧失的肢体功能，运动与感觉功能的协调统一是实现假肢自然精准操控的关键。目前多功能假肢系统的研究主要集中于运动功能的实现，而较少涉及感觉功能的重建，限制了假肢系统的实际应用。本项目以实现假肢系统的感觉功能为目标，开展假肢手的感觉（触/滑）信号检测、信息识别及神经反馈方法研究。拟利用柔性压电驻极体传感技术检测假肢手的感觉信号，通过设计和优化传感材料的微观结构，实现接触和滑动两种信号的单传感器集成精确检测；利用表面和透皮电刺激两种方法，研究感觉反馈的诱发与信息传入，并通过对比两种方法的性能，探索适宜有效的神经反馈刺激方式，建立无创或微创的、准确稳定的感觉神经反馈方案，实现截肢者缺失肢体的感觉功能恢复；开发基于感觉神经反馈的假肢手闭环操控系统，优化感觉与运动协调控制的性能，为拥有感觉神经反馈功能的假肢系统提供理论和技术基础。本研究的实施对于完善假肢功能具有重要意义。

截肢者需要佩戴假肢以恢复其丧失的肢体功能，运动与感觉功能的协调统一是实现假肢自然精准操控的关键。目前多功能假肢系统的研究主要集中于运动功能的实现，而较少涉及感觉功能的重建，限制了假肢系统的实际应用。本项目开展了触滑信号单传感器集成检测的传感方法、假肢手感觉信息的精确识别、多模态选择式电刺激组合诱发感觉神经反馈、基于感觉神经反馈的假肢手闭环操控系统四个方面的研究。通过设计和优化传感结构，开发了压电驻极体-压敏电阻复合型柔性传感技术，实现接触和滑动两种信号的一体化集成检测；通过信号处理，识别与分离接触和滑动信号，获取相应的感觉信息，分析出假肢手与被抓握物体之间的状态；利用非侵入式电刺激方法，针对前臂截肢者，分析了电刺激诱发感觉反馈的长期规律，建立了无创、准确、稳定的感觉神经反馈方案，实现了截肢者幻肢手的不同手指和手掌感觉诱发，实现了接触、振动、拍打多种感觉信息的神经传入，重建了截肢者直觉的感觉功能；初步开发了基于感觉反馈的假肢手闭环操控系统，研究了感觉与运动功能协调控制方法，为具备人机交互功能的仿生假肢手提供技术支持。本研究通过解决设计压电驻极体的结构实现触/滑信号的单传感器集成检测、透皮电刺激有效诱发感觉反馈、多模态刺激组合准确输入感觉信息这三个关键问题，基本达到了为假肢手增加感觉神经反馈功能、实现基于感觉反馈的闭环控制、提高假肢手操控性能的总体研究目标。本研究的实施对于完善假肢和康复机器人功能具有重要意义，可应用于肢体丧失和脑卒中患者的运动与感觉功能协同康复；本研究还证明了非侵入电刺激可诱发肢体健全人群直觉的感觉反馈，可广泛应用于人机交互、体育娱乐等方面；本研究开发的传感技术可扩展至人工皮肤、可穿戴设备等应用。