CN1318191C

CN1318191C - Space-time double channel robot tactility rendition current stimulation method and apparatus

Info

Publication number: CN1318191C
Application number: CNB200310106477XA
Authority: CN
Inventors: 帅立国; 况迎辉; 姜昌金; 周山明; 张力
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2003-12-01
Filing date: 2003-12-01
Publication date: 2007-05-30
Anticipated expiration: 2023-12-01
Also published as: CN1546290A

Abstract

The space-time dual-channel robot tactile reproduction current stimulation device relates to a current stimulation device for robot tactile reproduction. The input terminal of the local computer is connected to the tactile information of the remote robot, the output terminal of the computer is connected to the sound card or the plug-in card, and the output terminal of the sound card or the plug-in card The signal conditioning module of the space channel and the voltage-current conversion module of the time channel are respectively connected, the output terminal of the signal conditioning module of the space channel is connected with the relay group gating module, and the output terminals of the voltage-current conversion module of the time channel and the relay group gating module contact the sensory reproduction electrode array The method is to process the tactile information of the remote operation robot into two input signals through the computer, and use the current stimulation of the two channels of time and space to reproduce the tactile sensation, and use the continuously changing periodic stimulation current to output to the contact array. The array applies the stimulation current generated by the current stimulator to the operator's fingertips through electrical contacts, thereby providing the tactile information of the teleoperation robot to the local operator.

Description

Space-time dual channel machine people tactile sense reproduction galvanism method and device

Technical field

The present invention relates to a kind of galvanism device that is used for robot tactile sense reproduction, especially can make the operator obtain the space-time dual channel machine people tactile sense reproduction electric stimulator of gentle touch feeling.

Background technology

Existing its implementation of robot tactile sense reproduction device comprises various ways such as pneumatic stimulus, vibratory stimulation, neuromuscular stimulation and electro photoluminescence.Wherein, electro photoluminescence tactile sense reproduction owing to have is convenient to integrated and is realized miniaturization, resolution ratio height, is easy to and plurality of advantages such as computer interface, low in energy consumption and cost are low, firmly gets researcher's concern.Electro-tactile representation is by the waveform and the intensity of control stimulating current, applying certain intensity and average for operator's injected organism tissue is zero alternating current, by electric current the stimulation of human body nerve endings is excited operator's touch feeling, thereby reach tactile sense reproduction and purposes such as sensation substitutes.But the stimulating current that existing electro-tactile representation device adopts mostly is the paroxysm impulse wave greatly, has the transient current sudden change difficulties such as uncomfortable sensations such as shouting pain, and sense of touch time availability that cause happening suddenly.

Summary of the invention

Technical problem: the objective of the invention is the problems referred to above at existing electro photoluminescence tactile representation device existence, a kind of space-time binary channels sense of touch electric stimulator is provided, this sense of touch electric stimulator can not only provide sensation to the operator by galvanism, and can also provide gentle comfortable touch feeling for the operator.

Technical scheme: the technical solution adopted for the present invention to solve the technical problems is: Neurobiology expert Ehud doctor Ahissa according to Israel Ci Man Wei research institute (Weizmann Institute of Science) is to be encoded simultaneously by the data of two passages of room and time to form this up-to-date scientific discovery about obtaining of brain tactile data, proposes a kind of galvanism tactile sense reproduction method based on time and space two passages.I.e. being connected (spatial channel) except that gating stimulating current and each contact of tactile sense reproduction array, also to the research that experimentizes of stimulating current signal wave form varies in time, adopt continually varying period stimulating electric current (time channel) to replace single paroxysm pulse current, with the burst tingling sensation of eliminating electro-tactile representation and the time availability that improves electric touch.

Space-time dual channel machine people tactile sense reproduction galvanism device of the present invention, formed by computer control part and tactile sense reproduction electric stimulator part, it is characterized in that computer control partly comprises local computer and computer sound card (or plug-in card), the tactile sense reproduction electric stimulator partly comprises spatial channel signal condition module, time channel voltage current transformation module, relay group gating module, tactile sense reproduction electrod-array.Wherein local computer receives the tactile data input of distant robot; built-in computer sound card (or plug-in card); the dual-channel audio output of sound card (or plug-in card) connects spatial channel signal condition module and time channel voltage current transformation module respectively; the output relay termination group gating module of spatial channel signal condition module, relay group gating module is carried out break-make control to being electrically connected of each contact on time channel voltage current transformation module and the tactile sense reproduction electrod-array.

In tactile sense reproduction electric stimulator part, time channel voltage current transformation module is in series by signal amplifier " F " and baric flow converter " V/I " and forms, the input of signal amplifier " F " is the input of time channel voltage current transformation module, connects computer sound card (or plug-in card); The output termination baric flow converter " V/I " of signal amplifier " F ", the output contacting feeling of baric flow converter " V/I " reproduces electrod-array; Spatial channel signal condition module is made of frequency measurement module " U1 ", relay group gating module is by first data latches, second data latches, the 3rd data latches, the 4th data latches, two transmission gates, with door " IC12 ", triode " N12 " and relay compositions such as " J12 ", the input termination sound card or the plug-in card of frequency measurement module " U1 ", the output of frequency measurement module " U1 " connects first data latches respectively, second data latches, the 3rd data latches and two transmission gates, first data latches, second data latches, the 3rd data latches and two transmission gates constitute the contact gating matrix that a capable j of i is listed as, the ranks value at matrix each point place connects and door, through driving being electrically connected of backgating respective electrical contact point and time channel voltage current transformation module stimulating current source.

The method of space-time dual channel machine people tactile sense reproduction galvanism of the present invention is the sound wave signal that the tactile data of distant Work robot and stimulating current control signal is become two passages of stereo audio signal by Computer Processing, the galvanism tactile sense reproduction mode of employing time and space two passages, the continually varying period stimulating electric current that electric stimulator is produced acts on operator's finger tip by electric contact, thereby the tactile data of distant Work robot is offered local operator.

Beneficial effect: based on the robot tactile sense reproduction galvanism device of space-time dual channel approaches, has hardware advantage simple, with low cost and easy to use, and can overcome the burst tingling sensation of eliminating operator in the electro-tactile representation whole or in part, improve the time availability difficulty of tactile sense reproduction, for the operator provides authentic gentle electric touch impression.

Description of drawings

Fig. 1 is a general structure block diagram of the present invention.Channel signal conditioning module 1, time channel voltage current transformation module 2, relay group gating module 3, tactile sense reproduction electrod-array 4, distant tactile sensing device of robot's information 5, local computer 6, computer sound card or plug-in card 7, operator 8 wherein have living space.

Fig. 2 is a space-time binary channels electric stimulator electrical schematic diagram.

Fig. 3 is that tactile sense reproduction is tested man-machine control interface.

Fig. 4 is a space-time binary channels sound wave file oscillogram.

Fig. 5 is a tactile sense reproduction experiment galvanism oscillogram.Wherein: figure (a) is the paroxysm impulse wave that early stage experiment is adopted; Figure (b) is the binary channels cycle pulsating wave that adopts professional sound wave process software to generate; Figure (c) is the waveform of random noise of having superposeed; Figure (d) is the global waveform figure that shows with " 10: 1 " compression.

The specific embodiment

Below in conjunction with drawings and Examples technical scheme of the present invention is further specified.

Fig. 1 is a space-time binary channels tactile sense reproduction electric stimulator block diagram provided by the invention.Form by spatial channel signal condition module 1, time channel voltage current transformation module 2, relay group gating module 3, tactile sense reproduction electrod-array 4 etc.; space-time binary channels sense of touch electric stimulator links to each other with the computer sound card or the plug-in card 7 of local computer 6; receive distant tactile sensing device of robot's information 5 far, for operator 8 provides electro-tactile representation required stimulating current.Fig. 2 is circuit theory diagrams of the present invention.

Space-time dual channel machine people tactile sense reproduction galvanism device structurally; mainly formed by computer control part and tactile sense reproduction electric stimulator part; computer control partly comprises local computer 6 and computer sound card (or plug-in card) 7; the tactile sense reproduction electric stimulator partly comprises spatial channel signal condition module 1; time channel voltage current transformation module 2; relay group gating module 3; tactile sense reproduction electrod-array 4; the distant tactile sensing device of robot's information 5 of the input termination of local computer 6 wherein; the output termination sound card of computer 6 or plug-in card 7; the output of sound card or plug-in card 7 connects spatial channel signal condition module 1 and time channel voltage current transformation module 2 respectively; the output relay termination group gating module 3 of spatial channel signal condition module 1, relay group gating module is carried out break-make control to being electrically connected of each contact on time channel voltage current transformation module 2 and the tactile sense reproduction electrod-array 4.

In tactile sense reproduction electric stimulator part, time channel voltage current transformation module 2 is in series by signal amplifier " F " and baric flow converter " V/I " and forms, the input of signal amplifier " F " is the input of time channel voltage current transformation module 2, connects computer sound card (or plug-in card) 7; The output termination baric flow converter " V/I " of signal amplifier " F ", the output contacting feeling of baric flow converter " V/I " reproduces electrod-array 4; Spatial channel signal condition module 1 is made of frequency measurement module " U1 ", relay group gating module 3 is by first data latches 31, second data latches 32, the 3rd data latches 33, the 4th data latches 34, two transmission gates 35,36, with door " IC12 ", triode " N12 " and relay compositions such as " J12 ", the input termination sound card of frequency measurement module " U1 " or plug-in card 7, the output of frequency measurement module " U1 " connects first data latches 31 respectively, second data latches 32, the 3rd data latches 33 and two transmission gates 35,36, first data latches 31, second data latches 32, the 3rd data latches 33 and two transmission gates 35,36 constitute the contact gating matrix of the capable j row of i, the ranks value at matrix each point place connects and door, through driving being electrically connected of backgating respective electrical contact point and time channel voltage current transformation module stimulating current source.Among the figure, the ranks value at matrix " D12 " some place connects and door " IC12 ", and the output of " IC12 " connects triode " N12 ", and the output relay termination of " N12 " is with control tactile sense reproduction electrode battle array

Listing the contact corresponding with " D12 " is connected with the break-make in stimulating current source.

Under the control of robot system, far tactile data transmits in real time and is stored among the haptic data file dcj.dat of local computer.Under the laboratory environment, haptic data can be obtained by being installed in the touch sensor of master-slave mode robot from the finger end, also can provide by the relevant circular icon of the man-machine control interface gating shown in the accompanying drawing 3 by the operator, circular icon is corresponding one by one with electric contact on the tactile sense reproduction array, the operator can make it become grey (as the D1 in the accompanying drawing 3 by black by clickable icon, D4, D5) with the electric contact of this icon correspondence of gating, also clickable icon makes it be become black and be disconnected corresponding electric contact by grey once more, selected icon, the relevant contacts gated information promptly is written among the haptic data file dcj.dat.

Based on the twin-channel electro-tactile representation of space-time; not only require the tactile data of distant robot; be the spatial channel data of tactile sense reproduction, also need to provide the stimulating current control signal of time channel, so that the operator obtains gentle comfortable electro photoluminescence sense of touch for tactile representation device.The mode that stimulating current control signal under the space-time binary channels adopts the sound wave file to play produces.

Press the START button in the accompanying drawing 3 control interfaces, systems soft ware is read haptic data from the dcj.dat file, with control informations such as the stimulating current waveform of time channel and intensity, synthesize by professional sound wave process software and to be suitable for the stereo sound wave file that sound card is play.Accompanying drawing 4 is the waveform schematic diagram that adopts synthetic two sound channels of WAV form sound wave file of professional software, wherein, (a) is L channel, corresponding time channel stimulating current control signal, (b) be R channel, be the unifrequency periodic signal, the contact gated information of corresponding spatial channel.The tactile sense reproduction electric stimulator shown in the frame of broken lines of right side links to each other in the output of the audio frequency of sound card and the accompanying drawing 1.The time channel current controling signal of L channel output is a voltage signal, becomes the tactile sense reproduction stimulating current with specific waveforms feature and certain intensity behind voltage-current transformation; The spatial channel contact gating control signal of R channel output links to each other with the spatial channel signal condition module 1 of electric stimulator, and the signal condition module functions is frequency measurement, and the frequency measurement module adopts numerical frequency to measure special chip IC M7226B.This chip is 40 pin dual-in-line large scale integrated circuits, have that frequency measurement is counted, latchs, deciphered, the position section drives demonstration, range and functions such as decimal point selection and multichannel logic control, be equipped with the above numerical frequency measurement module of 10MHz that a spot of peripheral cell promptly can be realized function admirable.The frequency parameter that ICM7226B records can directly drive the common cathode light-emitting diode display by the position section output pin of chip, also can link to each other with computer or other digital interface circuits by the binary-coded decimal output port and transmit data.Adopt binary-coded decimal output among the present invention, the output of binary-coded decimal can constitute a matrix with the capable and j row of i, 0/1 level signal on the matrix each point place ranks line through with door and drive relay can gating or disconnect being connected of respective electrical contact point and stimulating current source.Accompanying drawing 2 has shown contact D ₁₂Circuit connect.The frequency difference that the frequency measurement module records, the contact of gating are also different.

Frequency coding scheme to spatial channel describes in detail below.

The mode that the present invention plays the sound wave file by sound card is sent to electric stimulator with the spatial channel tactile data by computer, transmits accurately for guaranteeing data, and the data message of spatial channel adopts frequency coding, and takies a sound channel of sound wave file.The frequency coding scope is limited by the bandwidth of computer sound card.Identical 20Hz～the 20kHz that is generally of sound card bandwidth with audio bandwidth.

Decimal number can be represented with four binary-coded decimal bit3 bit2 bit1 bit0.9 binary-coded decimal is 1001, because bit3 is 1 o'clock, bit2, bit1 can not be 1, therefore have repellency between highest order and other positions, can cause reproducing matrix row (OK) can only maybe can only be 1 for 0, so abandon highest order bit3, thereby have only bit0, bit1, bit2 to use, so upper frequency limit should be 17777Hz.In addition, because lower-frequency limit is 20Hz, ten bit1 can not be 0 with the bit position of a high position simultaneously, has repellency, so ten bit1 is unavailable, but when bit1 is 1, there is not repellency between the bit position of a bit0 and a position and the high-order bit position, therefore, all operational bit positions have: the bit0 of myriabit, the bit2 of kilobit, bit1, bit0, hundred bit2, bit1, bit0, ten bit2, the bit2 of a bit0 and a position, bit1, totally 12 bit positions such as bit0 etc., the maximum contact array that these 12 bit positions can be formed is 6 * 6, can satisfy the reproduction requirement of character and simple graph substantially.For simplicity, but the line of kilobit and hundred forming arrays, and the bit position of myriabit bit0 and ten s' bit2, a bit0 and a position is as alignment, thereby is constructed as follows array:

		Myriabit	Ten		Individual position			Capable number
		Myriabit	Ten		Individual position				Bit0	Bit2	Bit0	Bit2	Bit1	Bit0
		Hundred	Bit2	D ₁₁	D ₁₂	D ₁₃	D ₁₄		Bit0	Bit2	Bit0	Bit2	Bit1	Bit0	D ₁₅	D ₁₆	1
Bit1	D ₂₁		Bit2	D ₁₁	D ₁₂	D ₁₃	D ₁₄	D ₂₂	D ₂₃	D ₂₄	D ₂₅	D ₂₆	2		D ₁₅	D ₁₆	1
Bit1	D ₂₁		Bit0	D ₃₁	D ₃₂	D ₃₃	D ₃₄	D ₂₂	D ₂₃	D ₂₄	D ₂₅	D ₂₆	2	D ₃₅	D ₃₆	3
Kilobit	Bit2		Bit0	D ₃₁	D ₃₂	D ₃₃	D ₃₄	D ₄₁	D ₄₂	D ₄₃	D ₄₄	D ₄₅	D ₄₆	D ₃₅	D ₃₆	3	4
	Bit2	Bit1	D ₅₁	D ₅₂	D ₅₃	D ₅₄	D ₅₅	D ₄₁	D ₄₂	D ₄₃	D ₄₄	D ₄₅	D ₄₆	D ₅₆	5		4
	Bit0	Bit1	D ₅₁	D ₅₂	D ₅₃	D ₅₄	D ₅₅	D ₆₁	D ₆₂	D ₆₃	D ₆₄	D ₆₅	D ₆₆	D ₅₆	5	6
	Bit0	Row number		1	2	3	4	D ₆₁	D ₆₂	D ₆₃	D ₆₄	D ₆₅	D ₆₆	5	6	6

Everybody of contact array uses D _IjExpression, i is row number, and j is row number, and the contact gated mode is total by permutation and combination

Σ = C_{36}^{1} + C_{36}^{2} + \cdot \cdot \cdot + C_{36}^{35} + C_{36}^{36}

Individual.The frequency parameter of each contact gating be ( ^*The expression parameter is an arbitrary value):

		Myriabit	Ten		Individual position			Capable number
		Myriabit	Ten		Individual position				Bit0	Bit2	Bit0	Bit2	Bit1	Bit0
		Hundred	Bit2	14 ^***	4 ^4 ^	4 ^1 ^	4 ^**4		Bit0	Bit2	Bit0	Bit2	Bit1	Bit0	4 ^**2	4 ^**1	1
Bit1	12 ^***		Bit2	14 ^***	4 ^4 ^	4 ^1 ^	4 ^**4	2 ^4 ^	2 ^1 ^	2 ^**4	2 ^**2	2 ^**1	2		4 ^**2	4 ^**1	1
Bit1	12 ^***		Bit0	11 ^***	1 ^4 ^	1 ^1 ^	1 ^**4	2 ^4 ^	2 ^1 ^	2 ^**4	2 ^**2	2 ^**1	2	1 ^**2	1 ^**1	3
Kilobit	Bit2		Bit0	11 ^***	1 ^4 ^	1 ^1 ^	1 ^**4	1 ^4 ^*	^44 ^	^41 ^	^4 ^4	^4 ^2	^4 ^1	1 ^**2	1 ^**1	3	4
	Bit2	Bit1	1 ^2 ^*	^24 ^	^21 ^	^2 ^4	^2 ^2	1 ^4 ^*	^44 ^	^41 ^	^4 ^4	^4 ^2	^4 ^1	^2 ^1	5		4
	Bit0	Bit1	1 ^2 ^*	^24 ^	^21 ^	^2 ^4	^2 ^2	1 ^1 ^*	^14 ^	^11 ^	^1 ^4	^1 ^2	^1 ^1	^2 ^1	5	6
	Bit0	Row number		1	2	3	4	1 ^1 ^*	^14 ^	^11 ^	^1 ^4	^1 ^2	^1 ^1	5	6	6

During the multiconductor gating, frequency parameter be each single contact frequency parameter " or " (if be parameter step-by-step difference promptly add up), for example: D11 and D52, then frequency parameter is: 14 ^{* *}+ ^*24 ^*=1424 ^*D11 and D12, then frequency parameter is: 14 ^{* *}+ 4 ^*4 ^*=14 ^*4 ^*D11 and D51, then frequency parameter is: 14 ^{* *}+ 1 ^*2 ^*=142 ^*D11, D52 and D12, then frequency parameter is: 14 ^{* *}+ ^*24 ^*+ 4 ^*4 ^*=1424 ^*

Here a problem that needs to solve is, when selecting gating D11 and D52, D12 and D51 are also by the while gating, and this does not wish to occur, and also has same problem during other diagonal angles gating, the more contact of gating especially simultaneously, and problem can be more complicated.There are two kinds of possible solutions in this problem.

Directly as the contact gating signal, because mutually noninterfere between each bit position, so this scheme is feasible, but number of contacts has only 12 to the first in this case with above-mentioned 12 bit positions, and maximum can only be lined up 3 * 4 array.The frequency parameter of each contact gating is under this scheme:

	Ten thousand	Thousand			Hundred			Ten		Individual
	Ten thousand	Thousand			Hundred			Ten		Individual			The Bit position	Bit0	Bit2	Bit1	Bit0	Bit2	Bit1	Bit0	Bit2	Bit0	Bit2	Bit1	Bit0
Frequency	10kHz	4kHz	2kHz	1kHz	400Hz	200Hz	100Hz	40Hz	30Hz	24Hz	22Hz	21Hz	The Bit position	Bit0	Bit2	Bit1	Bit0	Bit2	Bit1	Bit0	Bit2	Bit0	Bit2	Bit1	Bit0
Frequency	10kHz	4kHz	2kHz	1kHz	400Hz	200Hz	100Hz	40Hz	30Hz	24Hz	22Hz	21Hz	Sequence number	Contact 12	Contact 11	Contact 10	Contact 9	Contact 8	Contact 7	Contact 6	Contact 5	Contact 4	Contact 3	Contact 2	Contact 1

For the multiconductor gating, when not having the contact, bit position of a position, frequency values is the direct algebraical sum of each point frequency values, during combination between the contact, bit position of individual position, its frequency follow " or " principle carries out computing (for example, 24Hz and 22Hz equal 26Hz), individual position contact sets is not when containing the high-order bit contact combination of 30Hz contact, frequency directly adds up, when comprising the 30Hz contact, and 2 of bit contact, individual position ^*Hz is by 3 ^*Hz handles.Because the particularity of 30Hz, whether the contact 4 that can judge 30Hz during programming earlier gating, as gating, then 21Hz, the 22Hz of individual position and 24Hz are changed into 31Hz, 32Hz and 34Hz again row handle.Otherwise remain unchanged.Then gating is carried out in the contact 1,2,3 of individual position and differentiates, frequency parameter by " or " handle, last again with the frequency parameter summation of 5～12 each contact, so just can calculate frequency parameter according to the situation of tactile data.

Such scheme represents it is feasible for simple sense of touch, but will seem not enough for the tactile data of complexity.

It two is to consider that the above-mentioned contact that exists falsely drops logical 6 * 6 arrays, because the contact falsely drops and logically take place between different rows, and with can not interfering mutually between each contact in the delegation, so we can adopt line by line the method for gating to get rid of the contact to falsely drop.Line by line during gating, the data message of each row adopts latch to latch, because multipoint gating occurs on the contact of different rows, so require when the contact of gating delegation, the contact of gating can not be released before, therefore, need adopt latch to latch maintenance for the electric contact of gating, with guarantee with the corresponding electric contact of tactile data can be by the while gating.

If frequency can be extended to (integrated circuit board customizes separately) beyond the audio frequency, number of contacts can increase greatly, always has 3 * n contact.When frequency reaches 100Mhz=10 ⁸During Hz, number of contacts reaches 3 * 8=24, and scheme one can be lined up 4 * 6 array, satisfies the haptic rendering of simple graph substantially, can line up 12 * 12 array by scheme two, can realize that the sense of touch of complex image and character shows.But frequency range is wide more, also can be high more to the requirement of frequency measurement technology.

The galvanism waveform that Fig. 5 is adopted when implementing for concrete electro-tactile representation.Wherein (a) is the paroxysm impulse wave that early stage experiment is adopted; (b) be the waveform of the professional sound wave process software generation of employing and the cycle pulsating wave of intensity time to time change, function expression is 0.3 ^*Sin (2 ^*Pi ^*t ^*F)+0.3 ^*Sin (2 ^*Pi ^*t ^*f ^*1.2599)+0.3 ^*Sin (2 ^*Pi ^*t ^*f ^*1.4983) (f=250Hz); (c) for having superposeed 0.1 ^*The waveform of rand (2) random noise;

(d) be the global waveform figure that above-mentioned waveform shows with " 10: 1 " compression.

Tactile sense reproduction embodiment shows that the paroxysm impulse wave easily causes operator's tingling sensation and time availability; Tactile sense reproduction based on (b) waveform does not have obviously burst tingling sensation under long-time situation about using, and has improved time availability preferably; And test based on the sense of touch of (c) ripple, then can make the operator obtain comparatively comfortable gentle touch feeling.

The galvanism waveform that makes the operator obtain gentle touch feeling is not limited to above-mentioned waveform, do not have at waveform under the situation of sudden change, the operator does not have tingling sensation substantially, and superimposed noise then helps the operator and obtains gentle relatively comfortable touch feeling, and improves the time availability of tactile sense reproduction.

Claims

1. A spatio-temporal dual-channel robot tactile reproduction current stimulation device is composed of a computer control part and a tactile reproduction current stimulator part, and is characterized in that the computer control part includes a local computer (6) and a computer sound card or plug-in card (7), The part of the tactile reproduction current stimulator includes a spatial channel signal conditioning module (1), a time channel voltage-current conversion module (2), a relay group gating module (3), a tactile reproduction electrode array (4), and the local computer (6) The input end is connected to the remote robot tactile information (5), the computer (6) has a built-in sound card or plug-in card (7), and the stereo audio output ends of the sound card or plug-in card (7) are respectively connected to the space channel signal conditioning module (1) and the time channel voltage The current conversion module (2), the output terminal of the spatial channel signal conditioning module (1) is connected to the relay group gating module (3), and the output terminal of the time channel voltage and current conversion module (2) is in contact with the relay group gating module (3) The sensory reproduction electrode array (4), and the relay group gating module (3) perform on-off control on the electrical connection between the time channel voltage-current conversion module (2) and each contact on the tactile sensory reproduction electrode array (4).

2. The space-time dual-channel robot tactile reproduction current stimulation device according to claim 1, characterized in that in the tactile reproduction current stimulator part, the time channel voltage-current conversion module (2) is composed of a signal amplifier "F" and a voltage-current conversion The input end of the signal amplifier "F" is the input end of the time channel voltage-current conversion module (2), which is connected to the computer sound card or plug-in card (7); the output end of the signal amplifier "F" Connected to the voltage-current converter "V/I", the output terminal of the voltage-current converter "V/I" contacts the sensory reproduction electrode array (4); the spatial channel signal conditioning module (1) is composed of a frequency measurement module "U1", and the relay The group strobe module (3) mainly consists of a first data latch (31), a second data latch (32), a third data latch (33), a fourth data latch (34), two Composed of two transmission gates (35, 36), AND gate "IC12", transistor "N12" and relay "J12", the input terminal of the frequency measurement module "U1" is connected to the sound card or plug-in card (7), and the frequency measurement module "U1" The output terminals of the first data latch (31), the second data latch (32), the third data latch (33) and two transmission gates (35, 36) are connected respectively, and the first data latch Device (31), the second data latch (32), the third data latch (33) and two transmission gates (35, 36) form a contact gating matrix of i rows and j columns, each point of the matrix The row and column values at the position are connected to the AND gate, and after being driven, the corresponding electrical contacts on the tactile reproduction electrode array (4) are strobed, and connected with the circuit of the stimulating current output by the voltage-current conversion module.

3. A method applicable to the spatio-temporal dual-channel robot tactile reproduction current stimulation device as claimed in claim 1, characterized in that the method processes the tactile information and the stimulation current control signal of the teleoperation robot into two stereo audio signals. The sound wave signal of the channel adopts the current stimulation tactile reproduction method of two channels of time and space, and the continuously changing periodic stimulation current generated by the current stimulator acts on the operator's fingertips through the electrical contacts, thereby making the tactile sense of the teleoperation robot Information provided to local operators.