Dargahi J, Najarian S
CONCAVE Research Centre, Concordia University, Montreal, Quebec, Canada.
Int J Med Robot. 2004 Jun;1(1):23-35. doi: 10.1002/rcs.3.
In this paper, we examine the most important features of human skin tactile properties with special emphasis on the characteristics which are vital in the design of artificial systems. Contrary to the visual and auditory senses, the touch signal is not a well-defined quantity. As a result, the researchers of this field are still dealing with the basics of collecting the most relevant data. Following this, mimicking the sense of touch by producing artificial tactile skin is a challenging process. Although the sense of touch is widely distributed all over the human body, the tactile perception in the human hand is of great importance in terms of surgical and medical robotics applications. In this study, the role of various mechanoreceptors in the human hand, such as, RA, SA I, SA II, and PC units are discussed in relation to the stimuli like force, position, softness, and surface texture. Taking human hand as a suitable tactile model, the necessary engineering features of an artificial tactile sensor, such as, spatial and temporal resolutions, force sensitivity, and linearity, are being reviewed. In this work, we also report on the current and possible future applications of tactile sensors in various surgical procedures.
在本文中，我们研究了人类皮肤触觉特性的最重要特征，特别强调了在人工系统设计中至关重要的特性。与视觉和听觉不同，触觉信号不是一个定义明确的量。因此，该领域的研究人员仍在处理收集最相关数据的基础工作。在此之后，通过制造人工触觉皮肤来模拟触觉是一个具有挑战性的过程。尽管触觉在人体全身广泛分布，但就手术和医疗机器人应用而言，人手的触觉感知非常重要。在本研究中，讨论了人手各种机械感受器（如RA、SA I、SA II和PC单元）在力、位置、柔软度和表面纹理等刺激方面的作用。将人手作为合适的触觉模型，正在审视人工触觉传感器的必要工程特性，如空间和时间分辨率、力敏感度和线性度。在这项工作中，我们还报告了触觉传感器在各种外科手术中的当前及可能的未来应用。
