A soft neural prosthetic hand with both myoelectric control and tactile feedback

Abstract

The present invention provides a soft neural prosthetic hand with both myoelectric control and tactile feedback, comprising a soft humanoid hand-like mechanical body, a hand body drive control system, a myoelectric sensing system, and a tactile sensing and feedback system. The hand body drive control system, myoelectric sensing system, and tactile sensing and feedback system are installed in the soft humanoid hand-like mechanical body, which is provided with a receiving cavity. The hand body drive control system has two types of pneumatic control methods: multi-pump multi-valve and single-pump multi-valve. It also has either a drag-line mode or a lightweight mode for installing, reproducing the dexterous grasping movements and intelligent and compliant characteristics of the human hand. It also relies on a tactile sensor and feedback system based on soft materials to achieve closed-loop neural control of a human in the loop. The present invention reduces the load on the patient's arm end, overcomes the significant shortcomings of traditional prosthetic hands in this regard, and also has the advantages of low cost, light weight, and ease of manufacturing.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a soft neural prosthetic hand with both myoelectric control and tactile feedback. Background Art

[0002] There are millions of upper limb amputees worldwide, often due to injuries caused by machinery, traffic accidents, natural diseases, and war. Most upper limb amputees come from low-income families, and the loss of labor force caused by disability places a further financial burden on these families. Upper limb amputees typically choose traditional cosmetic prostheses or simple hook-type prosthetic hands installed on the stump of their upper arms. These prostheses can partially replicate the functions of a human hand, but often lack the ability to grasp and sense things smoothly. Commercially available anthropomorphic neural prosthetic hands, such as the i-Limb Hand and the Michelangelo Hand, typically have rigid drive devices and complex mechanical structures, making them expensive and preventing widespread use.

[0003] Therefore, upper limb amputees, particularly those from low-income families, urgently need low-cost neuroprosthetics to resume normal work and life. The recent boom in soft robotics has inspired a new generation of prosthetics. Based on flexible materials, soft robotics can mimic the functions of muscle and skin. However, existing technologies still lack the required flexibility, dexterity, and tactile feedback capabilities for soft robots.

[0004] Patent document CN106618813A discloses a prosthetic hand comprising: a palm; five fingers arranged on the palm in the same relative positions as human fingers, each having at least two knuckles; a driver disposed within the palm for outputting a driving force; and a first timing belt disposed within the palm for utilizing the driving force output by the driver to transmit coupled flexion and extension motions of the knuckles of the five fingers. However, this design still lacks flexibility, dexterity, and tactile feedback. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a soft neural prosthetic hand with both myoelectric control and tactile feedback.

[0006] The soft neural prosthetic hand provided by the present invention, which has both myoelectric control and tactile feedback, comprises a soft humanoid hand-like mechanical body, a hand body drive control system, a myoelectric sensing system, and a tactile sensing and feedback system;

[0007] The hand body drive control system, myoelectric sensing system, and tactile sensing and feedback system are installed in the soft humanoid hand mechanical body;

[0008] A receiving cavity is provided in the soft human hand imitation mechanical body, and the hand body drive control system adopts any one of the installation modes of the no-drag mode and the lightweight mode:

[0009] In the no-drag mode, the hand body drive control system is installed in the receiving cavity;

[0010] In the lightweight mode, the hand body drive control system is installed in a waist pack, and the waist pack is placed on the patient.

[0011] Preferably, the soft human hand imitation mechanical body includes a thumb, a thumb palm connector, four fingers and a palm structure;

[0012] The thumb is mounted on the palm structure via a thumb-palm connector;

[0013] One end of the palm structure is connected to the thumb, the thumb-palm connector and the four fingers respectively, and the other end of the palm structure is connected to the hand body drive control system and the myoelectric sensing system.

[0014] Preferably, the thumb-palm connector drives the thumb to perform an oppositional movement.

[0015] Preferably, the finger or thumb is provided with an outer elastic skin, a customized middle hard medium layer and a hollow elastic cavity reinforced with a fiber mesh in sequence from the outside to the inside.

[0016] Preferably, the fiber mesh reinforced hollow elastic cavity is a sealed cavity, and the number of the customized intermediate hard medium layers is multiple, and the multiple customized intermediate hard medium layers are sequentially spaced along the length direction of the finger or thumb.

[0017] Preferably, the elastic modulus of the fiber mesh reinforced hollow elastic cavity is greater than the elastic modulus of the outer elastic skin.

[0018] Preferably, the hand body drive control system includes a micro control unit, a micro pump, a micro valve, an internal air circuit network and a battery;

[0019] The internal air circuit network is connected to the micro pump, micro valve, finger, thumb and thumb palm connector;

[0020] The battery is electrically connected to the micro control unit, the micro pump and the micro valve respectively;

[0021] The micro control unit controls the micro pump and the micro valve to adjust the pressure of the compressed air in the hollow elastic cavity reinforced by the fiber mesh in the finger or thumb through the internal air path network.

[0022] Preferably, the micro pump and micro valve adopt a multi-pump multi-valve mode or a single pump multi-valve mode;

[0023] When the multi-pump multi-valve mode is adopted, the fingers, thumb and thumb palm connector are connected to multiple pumps and multiple valves through an internal air path network, wherein the multiple pumps are responsible for air intake and the multiple valves are responsible for exhaust. In this mode, the microvalve only includes an exhaust control valve;

[0024] When the single-pump multi-valve mode is adopted, the fingers, thumb and thumb-palm connector are connected to multiple valves through an internal air network, one group of valves is responsible for air intake and the other group of valves is responsible for exhaust. In this mode, the microvalve includes an air intake control valve and an exhaust control valve, and a single pump is only connected to the air intake control valve group as an air source.

[0025] Preferably, the electromyographic sensing system comprises four-channel EMG electrodes, a readout circuit and a signal processing unit;

[0026] The four-channel EMG electrodes are arranged on the inner wall of the receiving cavity and in contact with the stump of the upper limb of the human body;

[0027] The readout circuit and the signal processing unit are installed inside the palm structure;

[0028] The human body uses the electromyographic signals obtained by the four-channel EMG electrodes at the upper limb stump and controls the soft humanoid hand mechanical body through the signal processing unit.

[0029] Preferably, the tactile sensing and feedback system includes a tactile sensor based on soft materials and an electrical stimulator;

[0030] The tactile sensors based on soft materials are made of hydrogel and are installed on the ventral sides of the fingertips of the thumb and fingers respectively;

[0031] The electrical stimulator is attached to the outside of the upper limb stump and is electrically connected to the tactile sensor based on soft materials;

[0032] The soft material-based tactile sensor transmits tactile signals to an electrical stimulator through a readout circuit and a signal processing unit. The electrical stimulator stimulates human skin, thereby forming electrical tactile feedback.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) The present invention can reproduce functional grasping movements and the intelligent and flexible characteristics of the human hand, has a sensitivity similar to the tactile perception range of the human hand, can realize complex combined movements, and has the advantages of low cost, light weight, and simple manufacturing;

[0035] (2) The present invention can realize 6 active degrees of freedom of movement through the thumb 12, the thumb-palm connector 13 and the four fingers 11, and is flexible and practical;

[0036] (3) The present invention can divide the finger 11 or thumb 12 into a joint area and a rigid area by configuring the structure of the finger 11 or thumb 12, thereby being able to achieve bending motion similar to the proportional relationship of the bending angle of the human hand joint by controlling the pressure of the compressed air, with precise control, practicality and reliability;

[0037] (4) The present invention enables the five fingers to cooperate with each other through the control of the micro control unit 21, and can simultaneously complete different complex movements and make the movements more intelligent and smooth, thereby enhancing the user experience and providing greater convenience for amputees in life and work;

[0038] (5) The present invention has a configuration of multiple pumps and multiple valves or a single pump and multiple valves through the micro pump 22, micro valve 23, and internal gas path network 24, which can be flexibly configured according to actual needs;

[0039] (6) The present invention has two modes: lightweight mode and no-drag mode. In view of the disadvantage of most traditional prosthetic hands being heavy, the present prosthetic hand can adopt the lightweight mode to reasonably distribute the load and reduce the load on the patient's arm end. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0041] Figure 1 It is a structural schematic diagram of the present invention;

[0042] Figure 2 is a schematic structural diagram of finger 11;

[0043] Figure 3 This is a structural diagram when using the multi-pump multi-valve mode;

[0044] Figure 4 This is a structural diagram when using a single pump multiple valve mode;

[0045] Figure 5 This is a schematic diagram of the structure of the present invention in a no-line mode;

[0046] Figure 6 This is a schematic diagram of the structure of the present invention in a lightweight mode;

[0047] Figure 7 It is a schematic diagram of the working principle of the present invention.

[0048] The figure shows:

[0049] Soft humanoid hand mechanical body 1 thumb palm connector 13 micro valve 23

[0050] Hand body drive control system 2 Palm structure 14 Internal air circuit network 24

[0051] Myoelectric sensing system 3, receiving cavity 15, battery 25

[0052] Tactile sensing and feedback system 4 Waist pack 16 Four-channel EMG electrodes 31

[0053] Finger 11 Microcontroller unit 21 Tactile sensor based on soft materials 41

[0054] Thumb 12 Micropump 22 Electrical Stimulator 42 DETAILED DESCRIPTION

[0055] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0056] Example:

[0057] The present invention provides a soft neural prosthetic hand with both myoelectric control and tactile feedback, such as Figure 1 As shown, it includes a soft humanoid hand-imitation mechanical body 1, a hand body drive control system 2, an electromyographic sensing system 3 and a tactile sensing and feedback system 4, wherein the electromyographic sensing system 3 and the tactile sensing and feedback system 4 are installed in the soft humanoid hand-imitation mechanical body 1, wherein the tactile sensing and feedback system 4 is made based on soft materials; a receiving cavity 15 is provided in the soft humanoid hand-imitation mechanical body 1, and the hand body drive control system 2 adopts any one of the installation modes of a no-drag mode and a lightweight mode, wherein, when in the no-drag mode, the hand body drive control system 2 is installed in the receiving cavity 15; when in the lightweight mode, the present invention is further provided with a waist bag 16, and the hand body drive control system 2 is installed in the waist bag 16.

[0058] Furthermore, when the hand body drive control system 2 adopts the no-line mode, Figure 5 As shown, the hand body drive control system 2 is installed in the receiving cavity 15, and the patient's upper arm stump is directly connected to the receiving cavity 15. In the no-tow mode, the system has no tow line, but the receiving cavity 15 is designed to be large in volume, and the patient's arm end bears a large weight; when the hand body drive control system 2 adopts the lightweight mode, as shown Figure 6As shown, the hand body drive control system 2 is installed in the waist bag 16, the patient's upper arm stump is directly connected to the receiving cavity 15, and the waist bag 16 is placed on the patient's waist or other parts of the body. The system has a tow line, including an air path and an electric circuit, but the receiving cavity 15 is small in volume and the patient's arm end bears less weight. The two modes can be flexibly configured according to actual needs. Therefore, the present invention can meet the convenient demand of no tow line, and in view of the disadvantage of most traditional prosthetic hands being heavy, the present prosthetic hand can adopt a lightweight mode to reasonably distribute the load and reduce the load on the patient's arm end. It has a flexible structure and strong practicality.

[0059] Specifically, if Figure 1 As shown, the soft humanoid hand mechanical body 1 includes a thumb 12, four fingers 11, a thumb-palm connector 13 and a palm structure 14, one end of the palm structure 14 is connected to the palm connector 13 and the four fingers 11 in sequence, wherein the thumb 12 is mounted on the palm structure 14 through the thumb-palm connector 13, and the thumb-palm connector 13 can drive the thumb 12 to perform palm-to-palm movement, thereby realizing two degrees of freedom of movement, and the finger 11 can realize bending movement. Therefore, the thumb 12, the thumb-palm connector 13 and the four fingers 11 can realize six active degrees of freedom of movement, with flexible movement and strong practicality.

[0060] Further, if Figure 1 、 Figure 2 As shown, the finger 11 or thumb 12 is provided with an outer elastic skin, a customized middle hard medium layer, and a fiber mesh reinforced hollow elastic cavity from the outside to the inside. The fiber mesh reinforced hollow elastic cavity is a sealed cavity. The number of the customized middle hard medium layers is multiple, and the multiple customized middle hard medium layers are sequentially arranged at intervals along the length direction of the finger 11 or thumb 12; in a preferred embodiment, as shown in FIG. Figure 2 As shown, there are four customized intermediate hard dielectric layers. Finger 11 is sequentially covered with four customized intermediate hard dielectric layers along the length of finger 11 from the fingertip inward. Multiple customized intermediate hard dielectric layers are sequentially arranged along the length of finger 11. The hollow elastic cavity reinforced with fiber mesh is filled with compressed air. By controlling the pressure of the compressed air, the finger 11 or thumb 12 can be bent, thereby dividing the finger 11 or thumb 12 into a joint area and a rigid area. Both thumb 12 and finger 11 are based on soft materials and are structurally reinforced by customized hard dielectrics and fibers. The six active degrees of freedom of the soft hand are independently and collaboratively controlled by a micro-pneumatic control system.

[0061] Furthermore, the elastic modulus of the fiber mesh-reinforced hollow elastic cavity is greater than that of the external elastic skin, making the extension and flexion movements of the finger 11 or thumb 12 more similar to those of a real finger. By controlling the pressure of the compressed air, the finger can bend in a manner similar to the proportional bending angle of the human hand joints, achieving precise control, practicality and reliability. In the present invention, the finger 11, thumb 12, and thumb-palm connector 13 can be driven in a coordinated manner to produce complex and flexible movements with intelligent flexibility, enhancing the user experience and providing greater convenience for amputees in their daily lives and work.

[0062] Specifically, if Figure 1 As shown, the hand body drive control system 2 includes a micro control unit 21, a micro pump 22, a micro valve 23, an internal air circuit network 24 and a battery 25. The internal air circuit network 24 is connected to the micro pump 22, the micro valve 23 and the finger 11, the thumb 12 and the thumb-palm connector 13; the battery 25 is electrically connected to the micro control unit 21, the micro pump 22 and the micro valve 23 respectively; the micro control unit 21 can control the micro pump 22 and the micro valve 23 to adjust the pressure of the compressed air in the fiber mesh reinforced hollow elastic cavity in the finger 11, the thumb 12 and the thumb-palm connector 13 through the internal air circuit network 24.

[0063] Furthermore, the micro pump 22 and the micro valve 23 can adopt a multi-pump multi-valve mode or a single pump multi-valve mode. When the multi-pump multi-valve mode is adopted, Figure 3 As shown, the micro pump 22 includes multiple pumps, which are connected to the fiber mesh reinforced hollow elastic cavity in the finger 11, thumb 12 and thumb palm connector 13 through an internal air path network 24; the multiple pumps are responsible for air intake, and the multiple micro valves 23 are responsible for exhaust. When the single pump multi-valve mode is adopted, as shown in FIG. Figure 4 As shown, the micro pump 22 adopts a single pump, that is, the micro pump 22 includes a pump only as an air source, and the micro pump 22 is connected to multiple air intake control valves, and the other ends of the multiple air intake control valves are respectively connected to the fiber mesh reinforced hollow elastic cavity in the finger 11, the thumb 12 and the thumb palm connector 13 through the internal air path network 24, and the other end of the fiber mesh reinforced hollow elastic cavity is connected to the exhaust control valve composed of multiple micro valves. When the pressure inside the fiber mesh reinforced hollow elastic cavity increases, the finger 11 or the thumb 12 bends, and when the pressure inside the fiber mesh reinforced hollow elastic cavity decreases, the finger 11 or the thumb 12 stretches. The two modes of the micro pump 22 and the micro valve 23 can be flexibly configured according to actual needs.

[0064] Specifically, if Figure 1 、 Figure 7As shown, the myoelectric sensing system 3 includes a four-channel EMG electrode 31, a readout circuit and a signal processing unit. The readout circuit and the signal processing unit are installed inside the palm structure 14. The four-channel EMG electrode 31 is arranged on the inner wall of the receiving cavity 15 and contacts the amputation site of the human upper limb; the tactile sensing and feedback system 4 includes a tactile sensor 41 based on soft materials and an electrical stimulator 42. The tactile sensor 41 based on soft materials is made of soft material hydrogel and has a sensitivity similar to the tactile perception range of human hands. It is installed on the ventral side of the thumb 12 and the fingertips 11; the electrical stimulator 42 is installed on the outside of the skin of the amputated arm of the human body and is electrically connected to the tactile sensor 41 based on soft materials. The prosthetic hand realizes myoelectric control through the myoelectric sensing system 3. The present invention has both myoelectric control and electrotactile feedback interfaces. On the first interface, a person with upper limb amputation uses the electromyographic signals obtained from their residual limb through the four-channel EMG electrodes 31 to control the soft neural prosthetic hand through a signal processing unit; on the second interface, the soft material-based tactile sensor 41 on the soft neural prosthetic hand transmits the tactile signal to the electric stimulator 42 through the readout circuit and the signal processing unit. The electric stimulator 42 stimulates the human skin, thereby forming electrotactile feedback. The two interfaces form a control closed loop with the person, that is, "the person is in the loop."

[0065] The present invention forms a "human-in-the-loop" closed-loop neural control system with the patient through myoelectric control and electrotactile feedback. It can reproduce the functional grasping movements of the human hand and has intelligent and flexible characteristics, and can realize complex combined movements. At the same time, the present invention can not only adopt a no-drag wire mode to achieve convenient wear; it can also adopt a lightweight mode to reasonably distribute the load and reduce the load on the patient's arm end. It has the advantages of dexterity, low cost, light weight and simple manufacturing.

[0066] In response to the shortcomings of the existing technology, the present invention combines the advantages of soft robotics technology to propose a soft neural prosthetic hand with both myoelectric control and tactile feedback. The hand can reproduce the dexterous grasping movements and intelligent and compliant characteristics of the human hand in multiple wearable modes, and rely on a tactile sensor and feedback system based on soft materials to achieve "human-in-the-loop" neural control. The system integrates a myoelectric control interface and an electrotactile feedback interface. Compared with the existing technology, the present invention achieves a lightweight design of the neural prosthesis and a significant reduction in manufacturing costs while ensuring the number of joints, active degrees of freedom and compactness. This design can achieve effective iteration of design and manufacturing, and is also conducive to the rapid replacement of soft components in the event of wear or failure. With its low cost and high functionality, it provides a practical solution for amputees.

[0067] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0068] Those skilled in the art will appreciate that, in addition to implementing the system, device, and various modules provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming the method steps. Therefore, the system, device, and various modules provided by the present invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; the modules for implementing various functions can also be considered both software programs for implementing the method and structures within the hardware component.

[0069] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A soft neural prosthetic hand with both myoelectric control and tactile feedback, characterized in that: It includes a soft humanoid hand-like mechanical body (1), a hand body drive control system (2), an electromyographic sensing system (3), and a tactile sensing and feedback system (4); The hand body drive control system (2), myoelectric sensing system (3), and tactile sensing and feedback system (4) are installed in the soft humanoid hand mechanical body (1); A receiving cavity (15) is provided in the soft human hand imitation mechanical body (1), and the hand body drive control system (2) adopts any one of the installation modes of a no-drag mode and a lightweight mode: In the no-drag mode, the hand body drive control system (2) is installed in the receiving cavity (15); In the lightweight mode, the hand body drive control system (2) is installed in a waist bag (16), and the waist bag (16) is placed on the patient; The soft human hand imitation mechanical body (1) comprises a thumb (12), a thumb palm connecting piece (13), four fingers (11) and a palm structure (14); The thumb (12) is mounted on the palm structure (14) via a thumb palm connector (13); One end of the palm structure (14) is connected to the thumb (12), the thumb-palm connector (13) and the four fingers (11), respectively, and the other end of the palm structure (14) is connected to the hand body drive control system (2) and the myoelectric sensing system (3); The finger (11) or thumb (12) is provided with an outer elastic skin, a customized middle hard medium layer and a hollow elastic cavity reinforced with a fiber mesh in sequence from the outside to the inside; The fiber mesh-reinforced hollow elastic cavity is a sealed cavity, and the number of the customized intermediate hard medium layers is multiple, and the multiple customized intermediate hard medium layers are sequentially spaced along the length direction of the finger (11) or the thumb (12); The hand body drive control system (2) includes a micro control unit (21), a micro pump (22), a micro valve (23), an internal air circuit network (24) and a battery (25); The internal air path network (24) is connected to the micro pump (22), the micro valve (23), the finger (11), the thumb (12) and the thumb palm connector (13); The battery (25) is electrically connected to the micro control unit (21), the micro pump (22) and the micro valve (23) respectively; The micro control unit (21) controls the micro pump (22) and the micro valve (23) to adjust the pressure of the compressed air in the hollow elastic cavity reinforced by the fiber mesh in the finger (11) or the thumb (12) through the internal air path network (24).

2. The soft neural prosthetic hand with both myoelectric control and tactile feedback according to claim 1, characterized in that: The thumb-palm connecting piece (13) drives the thumb (12) to perform an anti-palm movement.

3. The soft neural prosthetic hand with both myoelectric control and tactile feedback according to claim 1, characterized in that: The elastic modulus of the fiber mesh reinforced hollow elastic cavity is greater than the elastic modulus of the outer elastic skin.

4. The soft neural prosthetic hand with both myoelectric control and tactile feedback according to claim 1, characterized in that: The micro pump (22) and the micro valve (23) adopt a multi-pump multi-valve mode or a single pump multi-valve mode; When the multi-pump multi-valve mode is adopted, the finger (11), thumb (12) and thumb palm connector (13) are connected to multiple pumps and multiple valves through an internal air network (24), wherein the multiple pumps are responsible for air intake and the multiple valves are responsible for exhaust. In this mode, the micro valve (23) only includes an exhaust control valve; When the single-pump multi-valve mode is adopted, the finger (11), thumb (12) and thumb-palm connector (13) are connected to multiple valves via an internal air network (24), one group of valves being responsible for air intake and the other group of valves being responsible for air exhaust. In this mode, the micro valve (23) includes an air intake control valve and an air exhaust control valve, and a single pump is only connected to the air intake control valve group as an air source.

5. The soft neural prosthetic hand with both myoelectric control and tactile feedback according to claim 1, characterized in that: The electromyographic sensing system (3) includes four-channel EMG electrodes (31), a readout circuit, and a signal processing unit; The four-channel EMG electrodes (31) are arranged on the inner wall of the receiving cavity (15) and are in contact with the upper limb stump of the human body; The readout circuit and the signal processing unit are installed inside the palm structure (14); The human body uses the electromyographic signals obtained from the upper limb stump through four-channel EMG electrodes (31) and controls the soft humanoid hand mechanical body (1) through a signal processing unit.

6. The soft neural prosthetic hand with both myoelectric control and tactile feedback according to claim 5, characterized in that: The tactile sensing and feedback system (4) includes a tactile sensor (41) based on soft materials and an electrical stimulator (42); The soft material-based tactile sensor (41) is made of hydrogel, and the soft material-based tactile sensor (41) is respectively installed on the ventral side of the fingertip of the thumb (12) and the finger (11); The electrical stimulator (42) is attached to the outside of the upper limb stump and is electrically connected to the tactile sensor (41) based on a soft material; The soft material-based tactile sensor (41) transmits a tactile signal to an electrical stimulator (42) via a readout circuit and a signal processing unit, and the electrical stimulator (42) stimulates human skin, thereby forming electrical tactile feedback.

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