Tactile spatial position recognition system and method based on extraterritorial stimulation

Abstract

The invention belongs to the field of tactile perception, and relates to a tactile spatial position recognition system and method based on extraterritorial stimulation. The system comprises tactile feedback electrodes at finger pulps, extraterritorial stimulation electrodes on the outer sides of the finger pulps and a control module. The extraterritorial stimulation electrodes are at least associated with the tactile feedback electrodes adjacent to the extraterritorial stimulation electrodes; the control module controls whether the associated extraterritorial stimulation electrode works or not according to the working state of the tactile feedback electrode and the incidence relation between the electrode stimulation site and the virtual tactile sense; when the tactile feedback electrode works, the control module applies micro-current to the associated extraterritorial stimulation electrode so as to generate tactile stimulation to the skin outside the finger pulp and send out a space guide positioning signal. The extraterritorial stimulation electrodes are arranged on the outer sides of the finger pulps, and when the associated tactile feedback electrodes work, the corresponding extraterritorial stimulation electrodes work, so that a receptor can more accurately judge the positions of the tactile feedback electrodes for applying micro-current to the finger pulps, and the tactile spatial position recognition capability of the receptor is improved.

Description

Technical Field

[0001] The present invention belongs to the field of tactile perception, and in particular relates to a tactile space position recognition system and method based on out-of-domain stimulation. Background Art

[0002] The skin is the largest sensory organ and contains a variety of tactile receptors, among which low-threshold and high-threshold tactile receptors respond to non-harmful and harmful mechanical stimuli, respectively. When the external environment directly or indirectly stimulates the tactile receptors in the skin, the ion channels inside the tactile receptors are activated, forming an electric potential difference inside and outside the cells, thereby generating bioelectric signals. This electrical signal is then transmitted to the end of the sensory nerve fiber, forming an action potential. The action potential is rapidly transmitted in the sensory nerve fiber, and after reaching the central nervous system, it is processed and interpreted by the central nervous system to form tactile perception.

[0003] The overall process of using microcurrent to stimulate the human body to produce tactile perception is basically the same as the tactile perception in the natural state (i.e., external environmental stimulation). There are a large number of tactile receptors distributed on the skin of the fingers, which are responsible for sensing various tactile stimuli received by the fingers. At present, most of the virtual tactile models that apply microcurrent stimulation to the fingers apply microcurrent stimulation to the fingertips; for example, the utility model patent CN210199703U announced on March 27, 2020, discloses a flexible tactile glove based on the principle of supercapacitor sensing, and a flexible sensor layer is set at the palm and fingertips, so that the entire palm surface of the tactile glove is covered with an array of sensor units, and the distribution density of the sensor units is increased, thereby improving the perception accuracy of the tactile glove; for example, the invention patent CN102805900A disclosed on December 5, 2012, discloses an electrical stimulation system for generating artificial electrical touch, and an electrode array is set at the contact point of the fingertips to output electrical stimulation pulses.

[0004] However, for some people with low sensitivity, after the fingertips are stimulated by microcurrent, it is difficult for them to judge the exact location of the microcurrent applied to the fingertips based on their own tactile perception. Therefore, it is necessary to improve the corresponding microcurrent stimulation tactile perception technology. Summary of the invention

[0005] In order to solve the technical problems existing in the prior art, the first aspect of the present invention is to provide a tactile spatial position recognition system based on extra-domain stimulation. Extra-domain stimulation is performed by setting a spatial guide electrode on the outside of the fingertips where the tactile feedback electrode array is located. When the tactile feedback electrode is working, the corresponding spatial guide electrode stimulates outside the field, which plays a role of spatial guidance and positioning, so that the perceiver can more accurately judge the position of the tactile feedback electrode that applies microcurrent to the fingertips, so as to improve the perceiver's tactile spatial position recognition ability.

[0006] In a second aspect, based on the same inventive concept, the present invention also provides a recognition method based on the aforementioned tactile space position recognition system.

[0007] In an embodiment of the present invention, a tactile spatial position recognition system based on extra-domain stimulation includes a plurality of tactile feedback electrodes arranged corresponding to the finger pulps, a plurality of extra-domain stimulation electrodes arranged corresponding to the outer sides of the finger pulps, and a control module; The extra-domain stimulation electrode is associated with at least the tactile feedback electrode that is immediately adjacent to it, and the tactile feedback electrode and the associated extra-domain stimulation electrode are on the same circumference of the finger; The control module is respectively connected to a plurality of tactile feedback electrodes and a plurality of extra-domain stimulation electrodes; the control module controls whether the extra-domain stimulation electrodes associated with the tactile feedback electrodes are working according to the working state of the tactile feedback electrodes and the association between the electrode stimulation sites and the virtual tactile sensation; When the tactile feedback electrode is working, the control module applies a microcurrent to the extra-domain stimulation electrode associated with the tactile feedback electrode, so that the extra-domain stimulation electrode works, so as to generate tactile stimulation to the skin outside the fingertip where the extra-domain stimulation electrode is located, thereby sending out a spatial guidance positioning signal; The association relationship includes: setting a tactile feedback electrode as a reference point, assigning numbers to the extra-domain stimulation electrode and the remaining tactile feedback electrodes outside the reference point, marking whether the tactile feedback electrode has an associated extra-domain stimulation electrode, the correspondence between the tactile feedback electrode and the extra-domain stimulation electrode, and associating the position of the electrode stimulation site selected by microcurrent stimulation with the number of the tactile feedback electrode.

[0008] A tactile space position recognition method based on out-of-domain stimulation according to an embodiment of the present invention is implemented based on the tactile space position recognition system, and includes the following steps: S1, determining the tactile feedback electrodes in working state; S2, obtaining the micro-electric stimulation intensity of the tactile feedback electrode in a working state; S3, the control module determines whether the tactile feedback electrode in the working state has an associated extraterritorial stimulation electrode according to the association relationship between the electrode stimulation site and the virtual tactile sensation and the number of the tactile feedback electrode in the working state, and if so, further determines the extraterritorial stimulation electrode associated with the tactile feedback electrode in the working state; S4. Apply a microcurrent to the determined extra-domain stimulation electrode to make the determined extra-domain stimulation electrode work and send out a spatial guidance positioning signal.

[0009] Compared with the prior art, the technical effects achieved by the present invention include: 1. The present invention arranges an extra-domain stimulation electrode on the outside of the finger pulp. When the tactile feedback electrode located at the finger pulp works, its corresponding extra-domain stimulation electrode works; therefore, the perceiver can more accurately judge the specific position of the tactile feedback electrode that applies microcurrent at the finger pulp based on the stimulation position information of the extra-domain stimulation electrode and the tactile perception of the corresponding tactile feedback electrode, so as to improve the perceiver's tactile spatial position recognition ability.

[0010] 2. The tactile feedback electrode includes a middle stimulation electrode located in the middle for applying stimulation current and a circular inhibition electrode arranged outside the middle stimulation electrode for inhibiting the spread of stimulation current. The circular inhibition electrode can inhibit the outward spread of current, prevent the current stimulation generated by the tactile feedback electrode at one position from extending to other positions, reduce interference, and improve the recognition accuracy of the virtual tactile space position. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of a tactile space position recognition system based on out-of-domain stimulation in an embodiment of the present invention, wherein the base is an elastic finger sleeve.

[0012] Figure 2 This is another structural schematic diagram of a tactile space position recognition system based on out-of-domain stimulation in an embodiment of the present invention, wherein the substrate is a touch panel.

[0013] Figure 3 is another structural schematic diagram of the tactile feedback electrode array in an embodiment of the present invention.

[0014] Figure 4 Schematic diagram of another structure of the tactile feedback electrode array in an embodiment of the present invention.

[0015] Among them: a base 1, a tactile feedback electrode 2, an intermediate stimulation electrode 21, a circular inhibition electrode 22, an extra-domain stimulation electrode 3, and a segmented sub-electrode 31. DETAILED DESCRIPTION

[0016] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0017] Example 1 This embodiment provides a tactile space position recognition system based on extra-domain stimulation, such as Figure 1As shown, it includes a plurality of electrodes mounted on a substrate 1, the plurality of electrodes include a plurality of tactile feedback electrodes 2 arranged corresponding to the finger pulp, a plurality of spatial guide electrodes 3 (also called extra-domain stimulation electrodes) arranged corresponding to the outer side of the finger pulp, and a control module (not shown in the figure), wherein the plurality of tactile feedback electrodes 2 form a feedback electrode array. The spatial guide electrodes 3 are extra-domain stimulation electrodes capable of generating stimulation current.

[0018] The extra-domain stimulation electrode 3 is associated with at least the tactile feedback electrode 2 that is immediately adjacent to it (i.e., immediately adjacent to the extra-domain stimulation electrode), and the tactile feedback electrode 2 and the associated extra-domain stimulation electrode 3 are on the same circumference of the finger. The tactile feedback electrode may be connected to the associated extra-domain stimulation electrode or may not be connected.

[0019] Specifically, the extra-domain stimulation electrode 3 can be associated only with the tactile feedback electrode 2 that is immediately adjacent to it, and has no corresponding or associated relationship with the remaining tactile feedback electrodes of the feedback electrode array. The extra-domain stimulation electrode 3 can also be associated with more than one tactile feedback electrode in the same row on the feedback electrode array. In this case, more than one continuously distributed tactile feedback electrodes in the same row on the feedback electrode array are generally associated with the same extra-domain stimulation electrode. For example, the feedback electrode array is processed axially symmetrically, and multiple tactile feedback electrodes in the same row on the feedback electrode array that are on the same outside of the symmetry axis as the extra-domain stimulation electrode can all be associated with the same extra-domain stimulation electrode, and the associated multiple tactile feedback electrodes and the extra-domain stimulation electrode are distributed on the same circumference of the finger. For example, the first 1-3 tactile feedback electrodes in the same row on the feedback electrode array are associated with the extra-domain stimulation electrode on the left outer side of the fingertip, and the last 1-3 tactile feedback electrodes in the same row on the feedback electrode array are associated with the extra-domain stimulation electrode on the right outer side of the fingertip. The remaining tactile feedback electrodes in the same row on the feedback electrode array are located in the center of the fingertip and may not correspond or be associated with the extra-domain stimulation electrodes.

[0020] The control module is respectively connected to a plurality of tactile feedback electrodes and a plurality of extra-domain stimulation electrodes. The control module receives the working state signal of the tactile feedback electrode, and controls whether the extra-domain stimulation electrode associated with the tactile feedback electrode works according to the working state of the tactile feedback electrode and the association between the electrode stimulation site and the virtual tactile sensation. When the tactile feedback electrode works, the control module applies a microcurrent to the extra-domain stimulation electrode associated with the tactile feedback electrode to make the extra-domain stimulation electrode work, so as to generate tactile stimulation to the outer skin of the finger pulp where the extra-domain stimulation electrode is located, thereby sending a spatial guidance positioning signal.

[0021] Therefore, in this embodiment, an extra-domain stimulation electrode is arranged on the outside of the finger pulp, and when the tactile feedback electrode works, its associated extra-domain stimulation electrode works; because the extra-domain stimulation electrode stimulates the extra-domain skin in the same row of the feedback electrode array (i.e., the outside of the finger pulp), the perceiver can more accurately judge the specific position of the tactile feedback electrode that applies microcurrent on the finger pulp based on the stimulation position information of the extra-domain stimulation electrode 3 and the tactile perception given to him by the associated tactile feedback electrode, so as to improve the perceiver's tactile spatial position recognition ability. Therefore, in the entire tactile perception process, the extra-domain stimulation electrode plays a role in spatial guidance and positioning, which makes it easier for the perceiver to quickly and accurately perceive the specific position of the microcurrent stimulation generated on the finger pulp.

[0022] In addition, in this embodiment, the extra-domain stimulation electrode can be arranged only on the outer side of one side of the finger pulp; or the extra-domain stimulation electrode can be arranged on the outer side of both sides of the finger pulp. The spatial guidance and positioning effect of arranging the extra-domain stimulation electrode on the outer side of both sides of the finger pulp is better than the spatial guidance and positioning effect of arranging the extra-domain stimulation electrode on the outer side of only one side of the finger pulp.

[0023] like Figure 1 As shown, in the present invention, the substrate 1 can be an elastic finger sleeve that can be put on the finger, so that the tactile feedback electrode 2 and the spatial guidance electrode 3 can be in close contact with the finger skin. Figure 2 As shown, the substrate 1 may also be a flexible touch panel, and the shape of the touch panel is adjusted according to the shape of the finger so that the tactile feedback electrode 2 and the spatial guide electrode 3 can be in close contact with the finger skin.

[0024] like Figure 1 As shown, in another preferred embodiment, a plurality of tactile feedback electrodes 2 are distributed on the fingertips in a matrix having three columns, for example, a 3x3 matrix is ​​used, and a column of tactile feedback electrodes 2 on the left side of the fingertips is correspondingly provided with an extra-domain stimulation electrode 3 located on the left outer side of the fingertips, a column of tactile feedback electrodes 2 on the right side of the fingertips is correspondingly provided with an extra-domain stimulation electrode 3 located on the right outer side of the fingertips, and a column of tactile feedback electrodes 2 in the middle of the fingertips is not correspondingly provided with an extra-domain stimulation electrode 3. The tactile feedback electrodes can also be arranged in a 6x3 matrix form, and the two columns of tactile feedback electrodes on the left side of the fingertips are correspondingly provided with an extra-domain stimulation electrode located on the left outer side of the fingertips, the two columns of tactile feedback electrodes on the right side of the fingertips are correspondingly provided with an extra-domain stimulation electrode located on the right outer side of the fingertips, and the two columns of tactile feedback electrodes in the middle of the fingertips are not correspondingly provided with an extra-domain stimulation electrode.

[0025] With the above scheme, when the tactile feedback electrode 2 on the left side of the fingertip works to generate microcurrent to stimulate the left side of the fingertip, the extra-domain stimulation electrode 3 on the left side next to it also works to generate microcurrent to stimulate the left outer side of the fingertip; similarly, when the tactile feedback electrode 2 on the right side of the fingertip works to generate microcurrent to stimulate the right side of the fingertip, the extra-domain stimulation electrode 3 on the right side next to it also works to generate microcurrent to stimulate the right outer side of the fingertip. Thus, under the spatial guidance of the extra-domain stimulation electrode, it is convenient for the perceiver to more accurately judge the positions of the tactile feedback electrodes on the left and right sides of the fingertip where microcurrent stimulation is applied.

[0026] Compared with setting two rows of tactile feedback electrodes, the difficulty of spatial position recognition with three rows of tactile feedback electrodes can better test the ability of the perceiver in spatial position recognition. Although the tactile feedback electrode in the middle of the fingertip does not have a corresponding extraterritorial stimulation electrode, the tactile sensitivity in the middle of the fingertip is higher than that on both sides of the fingertip, and the accuracy of spatial position recognition is inherently higher; and when the tactile feedback electrode in the middle of the fingertip generates microcurrent stimulation, the perceiver cannot feel the current stimulation on the outside of the fingertip. Through the elimination method, it can be judged that the tactile feedback electrode that generates microcurrent stimulation is located in the middle of the fingertip, which can also improve the perceiver's accuracy in perceiving the spatial position of the tactile feedback electrode that applies microcurrent stimulation to the fingertip.

[0027] It should be noted that before performing spatial position recognition, it is necessary to first establish an association relationship between the electrode stimulation site and the virtual tactile sensation, and the established association relationship can be stored in the control module. The association relationship includes: setting a tactile feedback electrode as a reference point, assigning numbers to the extra-domain stimulation electrode and the remaining tactile feedback electrodes outside the reference point, marking whether the tactile feedback electrode has an associated extra-domain stimulation electrode, and the correspondence between the tactile feedback electrode and the extra-domain stimulation electrode, and associating the position of the stimulation site selected by the micro-current stimulation with the number of the tactile feedback electrode. Based on the association relationship, the control module determines whether the tactile feedback electrode has an associated extra-domain stimulation electrode according to the number of the tactile feedback electrode in the working state, and if so, applies a micro-current to the associated extra-domain stimulation electrode.

[0028] When establishing the association relationship, firstly, a tactile feedback electrode in the feedback electrode array is selected as a reference point, the extra-domain stimulation electrode and the remaining tactile feedback electrodes outside the reference point are numbered, and whether the tactile feedback electrode has an associated extra-domain stimulation electrode, the tactile feedback electrode and the correspondence between the extra-domain stimulation electrodes are marked accordingly; then, the tactile feedback electrode at the reference point is selected, and microcurrent stimulation is performed for a first preset time (for example, 1 second), and after a second preset time (for example, 0.5 seconds), the remaining tactile feedback electrodes are selected one by one; and the position of the stimulation site selected by the microcurrent stimulation is associated with the number of the tactile feedback electrode.

[0029] For example, the feedback electrode array uses Figure 1 In the 3x3 matrix shown in the figure, the tactile feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is ​​used as a reference point. When performing microcurrent stimulation, the tactile feedback electrode at the center position is first selected for microcurrent stimulation for 1 second, and then the tactile feedback electrode 2 with the corresponding number is selected for microcurrent stimulation after 0.5 seconds, and the recipient is informed of the current selected stimulation site position. In the same way, each spatial position is selected three times.

[0030] In the present invention, when the tactile feedback electrode 2 generates a stimulating microcurrent, the frequency of the stimulating microcurrent is preferably 500 Hz, the pulse width is 200 us, starting from a microcurrent of 0.1 mA, and increasing or decreasing by an accuracy of 0.02 mA each time, and gradually adjusting the current intensity until the user can feel a weak stimulation or pain.

[0031] like Figure 1 As shown, in one embodiment, the tactile feedback electrode 2 may adopt an existing conventional stimulation electrode structure, and its shape may be circular or rectangular.

[0032] like Figure 3 and Figure 4 As shown, in another preferred embodiment, the tactile feedback electrode 2 includes an intermediate stimulation electrode 21 located in the middle for applying a stimulation current, and a circular inhibition electrode 22 arranged outside the intermediate stimulation electrode 21 for inhibiting the spread of the stimulation current. The intermediate stimulation electrode 21 is circular or rectangular; the amplitude of the inhibition current generated by the circular inhibition electrode 22 is 1 / 4 of the stimulation current of the intermediate stimulation electrode 21, and is opposite in phase to the stimulation current, thereby ensuring that the inhibition current does not activate the tactile receptors and inhibits the spread of the stimulation current to the greatest extent.

[0033] In this embodiment, the stimulation current and the inhibitory current are applied to the middle stimulation electrode 21 and the annular inhibitory electrode 22 respectively at the same time; or after the stimulation current is applied to the middle stimulation electrode 21 for a third preset time (e.g., 200us), the inhibitory current is applied to the annular inhibitory electrode 22.

[0034] like Figure 1 and Figure 2 As shown, in another preferred embodiment, a plurality of extra-domain stimulation electrodes 3 are distributed in an array, and at least one row of extra-domain stimulation electrodes 3 is arranged on the left and right sides of the finger pulp, such as Figure 2 A row of extra-domain stimulation electrodes 3 is provided. Preferably, the extra-domain stimulation electrodes 3 are flexible electrodes or liquid electrodes, which are more in line with the shape of the finger, and can adapt their own shapes according to the shape of the feeler's finger, so as to have a higher degree of fit with the feeler's finger and improve the micro-current stimulation effect. The extra-domain stimulation electrodes 3 extend outward from the tactile feedback electrodes 2.

[0035] Preferably, each extra-domain stimulation electrode 3 includes a plurality of segmented sub-electrodes 31 that can work independently, and the frequency and voltage of each segmented sub-electrode 31 can be adjusted separately. Dividing the extra-domain stimulation electrode into a plurality of segmented sub-electrodes facilitates adjusting the parameters of each segmented sub-electrode according to actual conditions, such as frequency and voltage, so that the parameters of the extra-domain stimulation can be adjusted to within the tolerance range of the receptor, thereby improving comfort and ensuring wearing safety.

[0036] Example 2 This embodiment provides a recognition method of the tactile space position recognition system based on Embodiment 1, comprising the following steps: S1, determining the tactile feedback electrodes in working state; S2, obtaining the micro-electric stimulation intensity of the tactile feedback electrode in a working state; S3, the control module determines whether the tactile feedback electrode in the working state has an associated extra-domain stimulation electrode according to the association relationship between the electrode stimulation site and the virtual tactile sensation and the number of the tactile feedback electrode in the working state, and if so, further determines the extra-domain stimulation electrode associated with the tactile feedback electrode in the working state, that is, determines the matching extra-domain stimulation electrode; S4. Apply a microcurrent to the determined extra-domain stimulation electrode to make the determined extra-domain stimulation electrode work and send out a spatial guidance positioning signal.

[0037] In a preferred embodiment, the method of applying microcurrent to the determined extra-domain stimulation electrode is: applying microcurrent stimulation signal from the center point of the tactile feedback electrode 2 that emits microcurrent stimulation along the edge point of the extra-domain stimulation electrode 3; the microcurrent stimulation signal is sequentially transmitted in the segmented sub-electrodes 31 of the extra-domain stimulation electrode 3, and the frequency and voltage are gradually increased. The stimulation signal gradually increases from weak to strong, which is conducive to the perceiver to feel the stimulation microcurrent and further improve the perceiver's tactile spatial position recognition ability.

[0038] Preferably, the maximum voltage of the segmented sub-electrode 31 of the edge point of the extra-domain stimulation electrode 3 away from the tactile feedback electrode 2 is less than half of the voltage corresponding to the extreme point. The voltage corresponding to the extreme point is the maximum voltage of the tactile feedback electrode 2. The maximum voltage of the extra-domain stimulation electrode is limited to avoid excessive voltage of the extra-domain stimulation electrode, thereby ensuring the safety and comfort of the feeler.

[0039] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A tactile spatial position recognition system based on extraterritorial stimulation, characterized in that: It includes a plurality of tactile feedback electrodes arranged corresponding to the finger pulps, a plurality of extra-domain stimulation electrodes arranged corresponding to the outer sides of the finger pulps, and a control module; The extra-domain stimulation electrode is associated with at least the tactile feedback electrode that is immediately adjacent to it, and the tactile feedback electrode and the associated extra-domain stimulation electrode are on the same circumference of the finger; The control module is respectively connected to a plurality of tactile feedback electrodes and a plurality of extra-domain stimulation electrodes; the control module controls whether the extra-domain stimulation electrodes associated with the tactile feedback electrodes are working according to the working state of the tactile feedback electrodes and the association between the electrode stimulation sites and the virtual tactile sensation; When the tactile feedback electrode is working, the control module applies a microcurrent to the extra-domain stimulation electrode associated with the tactile feedback electrode, so that the extra-domain stimulation electrode works, so as to generate tactile stimulation to the skin outside the fingertip where the extra-domain stimulation electrode is located, thereby sending out a spatial guidance positioning signal; The association relationship includes: setting a tactile feedback electrode as a reference point, assigning numbers to the extra-domain stimulation electrode and the remaining tactile feedback electrodes outside the reference point, marking whether the tactile feedback electrode has an associated extra-domain stimulation electrode, the correspondence between the tactile feedback electrode and the extra-domain stimulation electrode, and associating the position of the electrode stimulation site selected by microcurrent stimulation with the number of the tactile feedback electrode.

2. The tactile space position recognition system based on extraterritorial stimulation according to claim 1, characterized in that: An extra-domain stimulation electrode is arranged on one side of the outer side of the finger pulp; or extra-domain stimulation electrodes are arranged on both sides of the outer side of the finger pulp.

3. The tactile space position recognition system based on extraterritorial stimulation according to claim 2, characterized in that: A plurality of tactile feedback electrodes form a feedback electrode array; The extra-domain stimulation electrode is only associated with the tactile feedback electrode that is immediately adjacent to it; or, the extra-domain stimulation electrode is associated with one or more continuously distributed tactile feedback electrodes in the same row on the feedback electrode array.

4. The tactile space position recognition system based on extraterritorial stimulation according to claim 3 is characterized in that: When extra-domain stimulation electrodes are set on the outside of both sides of the fingertips, the first 1-3 tactile feedback electrodes in the same row on the feedback electrode array are associated with the extra-domain stimulation electrode on the left outside of the fingertips, and the last 1-3 tactile feedback electrodes in the same row on the feedback electrode array are associated with the extra-domain stimulation electrode on the right outside of the fingertips, while the remaining tactile feedback electrodes in the same row on the feedback electrode array do not correspond or are associated with the extra-domain stimulation electrodes.

5. The tactile space position recognition system based on extraterritorial stimulation according to claim 1, characterized in that: The tactile feedback electrode comprises a middle stimulation electrode located in the middle and used for applying stimulation current, and a circular inhibition electrode arranged outside the middle stimulation electrode and used for inhibiting the diffusion of stimulation current.

6. The tactile space position recognition system based on extraterritorial stimulation according to claim 5, characterized in that: The amplitude of the inhibitory current generated by the annular inhibitory electrode is 1 / 4 of the stimulation current of the middle stimulation electrode, and its phase is opposite to that of the stimulation current.

7. The tactile space position recognition system based on extraterritorial stimulation according to claim 5, characterized in that: The stimulation current and the inhibitory current are applied to the middle stimulation electrode and the annular inhibitory electrode respectively at the same time; or, after a preset time has passed since the stimulation current was applied to the middle stimulation electrode, the inhibitory current is applied to the annular inhibitory electrode.

8. The tactile space position recognition system based on extraterritorial stimulation according to claim 1, characterized in that: Each extra-domain stimulation electrode includes a plurality of segmented sub-electrodes that work independently, and the frequency and voltage of each segmented sub-electrode are adjusted separately; the plurality of segmented sub-electrodes of the same extra-domain stimulation electrode are arranged and distributed along the circumferential direction of the finger.

9. The tactile space position recognition system based on extraterritorial stimulation according to claim 1, characterized in that: A plurality of tactile feedback electrodes and a plurality of extra-domain stimulation electrodes are arranged on the substrate; The substrate is an elastic finger sleeve mounted on a finger, or a flexible and bendable touch panel.

10. A method for identifying tactile spatial position based on out-of-domain stimulation, characterized in that: The method is implemented based on the tactile space position recognition system according to any one of claims 1 to 9, comprising the following steps: S1, determining the tactile feedback electrodes in working state; S2, obtaining the micro-electric stimulation intensity of the tactile feedback electrode in a working state; S3, the control module determines whether the tactile feedback electrode in the working state has an associated extraterritorial stimulation electrode according to the association relationship between the electrode stimulation site and the virtual tactile sensation and the number of the tactile feedback electrode in the working state, and if so, further determines the extraterritorial stimulation electrode associated with the tactile feedback electrode in the working state; S4. Apply a microcurrent to the determined extra-domain stimulation electrode to make the determined extra-domain stimulation electrode work and send out a spatial guidance positioning signal.

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