Tactile spatial location recognition system and method based on extracorporeal stimulation

Abstract

The application belongs to the field of tactile perception, and is a system and method for recognizing the spatial position of a tactile space based on extradomain stimulation. The system comprises a tactile feedback electrode at the finger pulp, an extradomain stimulation electrode outside the finger pulp, and a control module; the extradomain stimulation electrode is associated with at least the tactile feedback electrode adjacent thereto; the control module controls whether the associated extradomain stimulation electrode works or not according to the working state of the tactile feedback electrode and the association between the electrode stimulation site and virtual touch; when the tactile feedback electrode works, the control module applies a micro-current to the associated extradomain stimulation electrode to generate tactile stimulation at the skin outside the finger pulp and send a spatial orientation positioning signal. The application sets the extradomain stimulation electrode outside the finger pulp, and when the associated tactile feedback electrode works, the corresponding extradomain stimulation electrode works, so that the recipient can more accurately determine the position of the tactile feedback electrode applying the micro-current at the finger pulp, thereby improving the recipient's ability to recognize the spatial position of the tactile space.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of tactile perception, and particularly relates to a tactile spatial position recognition system and method based on extraterritorial stimulation. BACKGROUND

[0002] Skin is the largest sensory organ, containing 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 a potential difference between the inside and outside of the cell, thereby generating a bioelectric signal. This electrical signal is then transmitted to the end of the sensory nerve fiber, forming an action potential. The action potential is rapidly conducted 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 micro-current to stimulate the human body to produce tactile perception is basically consistent with the tactile perception in the natural state (i.e. external environment stimulation). The skin of the fingers is distributed with a large number of tactile receptors, which are responsible for perceiving various tactile stimuli received by the fingers. At present, the model of virtual tactile by applying micro-current stimulation to the fingers mostly applies micro-current stimulation to the palm of the fingers; for example, the utility model patent CN210199703U announced on March 27, 2020 discloses a flexible tactile glove based on super capacitor perception principle, a flexible sensor layer is arranged at the palm and the palm of the finger, so that the entire palm surface of the tactile glove is covered with an array of sensor units, the distribution density of the sensor units is improved, and the perception accuracy of the tactile glove is improved; for example, the invention patent CN102805900A disclosed on December 5, 2012 discloses an electrical stimulation system for generating artificial electro-tactile sensation, an electrode array is arranged at the skin contact of the finger palm to output electrical stimulation pulses.

[0004] However, for some people with low sensitivity, it is difficult to judge the accurate position of the micro-current applied to the palm according to their own tactile perception after receiving the micro-current stimulation on the palm. Therefore, it is necessary to improve the corresponding micro-current stimulation tactile perception technology. SUMMARY

[0005] In order to solve the technical problems existing in the prior art, the first aspect of the present application provides a tactile spatial position recognition system based on extraterritorial stimulation, which sets spatial guide electrodes outside the palm where the tactile feedback electrode array is located for extraterritorial stimulation. When the tactile feedback electrode works, the corresponding spatial guide electrode is stimulated outside the territory, which plays a role in spatial guide positioning, so that the recipient can more accurately judge the position of the tactile feedback electrode of the micro-current applied to the palm, thereby improving the tactile spatial position recognition ability of the recipient.

[0006] In a second aspect, based on the same inventive concept, the present application also provides a recognition method based on the aforementioned haptic spatial position recognition system.

[0007] In the embodiment of the present application, the haptic spatial position recognition system based on extradomain stimulation comprises a plurality of haptic feedback electrodes arranged corresponding to the finger pads, a plurality of extradomain stimulation electrodes arranged corresponding to the lateral sides of the finger pads, and a control module;

[0008] The extradomain stimulation electrode is associated with at least one haptic feedback electrode adjacent thereto, and the haptic feedback electrode and the extradomain stimulation electrode associated therewith are on the same circumference of the finger;

[0009] The control module is connected with the plurality of haptic feedback electrodes and the plurality of extradomain stimulation electrodes respectively; the control module controls whether the extradomain stimulation electrode associated with the haptic feedback electrode works or not according to the working state of the haptic feedback electrode and the association between the electrode stimulation site and the virtual haptics;

[0010] When the haptic feedback electrode works, the control module applies a micro-current to the extradomain stimulation electrode associated with the haptic feedback electrode to make the extradomain stimulation electrode work, so as to generate a haptic stimulation at the skin on the lateral side of the finger pad where the extradomain stimulation electrode is located, thereby sending a spatial orientation positioning signal;

[0011] The association includes: setting a haptic feedback electrode as a reference point, assigning numbers to the extradomain stimulation electrodes and the rest of the haptic feedback electrodes other than the reference point, marking the corresponding relationship between the haptic feedback electrode and the extradomain stimulation electrode, and associating the electrode stimulation site position selected by the micro-current stimulation with the number of the haptic feedback electrode.

[0012] The haptic spatial position recognition method based on extradomain stimulation in the embodiment of the present application is realized based on the haptic spatial position recognition system, and includes the following steps:

[0013] S1, determining the haptic feedback electrode in the working state;

[0014] S2, acquiring the micro-electric stimulation intensity of the haptic feedback electrode in the working state;

[0015] S3, the control module determines whether the haptic feedback electrode in the working state has an associated extradomain stimulation electrode according to the association between the electrode stimulation site and the virtual haptics and the number of the haptic feedback electrode in the working state, and further determines the extradomain stimulation electrode associated with the haptic feedback electrode in the working state if there is one;

[0016] S4, applying a micro-current to the determined extradomain stimulation electrode to make the determined extradomain stimulation electrode work, thereby sending a spatial orientation positioning signal.

[0017] Compared with the prior art, the technical effects achieved by the present application include:

[0018] 1、The present application sets the extra-field stimulation electrode outside the finger pulp, and the corresponding extra-field stimulation electrode works when the tactile feedback electrode at the finger pulp works; thus, the receiver can more accurately determine the specific position of the tactile feedback electrode applying the micro-current at the finger pulp according to the stimulation position information of the extra-field stimulation electrode combined with the tactile perception of the corresponding tactile feedback electrode, so as to improve the receiver's tactile spatial position recognition ability.

[0019] 2、The tactile feedback electrode includes the middle stimulation electrode for applying the stimulation current and the circular ring inhibition electrode for inhibiting the diffusion of the stimulation current, which is arranged outside the middle stimulation electrode. The circular ring inhibition electrode can inhibit the diffusion of the current outward, can avoid the current stimulation generated by the tactile feedback electrode at one position extending to other positions, reduces the interference, and improves the recognition accuracy of the virtual tactile spatial position. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of a tactile spatial position recognition system based on extra-field stimulation in the embodiment of the present application, and the base body is an elastic finger sleeve.

[0021] Figure 2 is another structural schematic diagram of a tactile spatial position recognition system based on extra-field stimulation in the embodiment of the present application, and the base body is a touch panel.

[0022] Figure 3 is another structural schematic diagram of a tactile feedback electrode array in the embodiment of the present application.

[0023] Figure 4 is still another structural schematic diagram of a tactile feedback electrode array in the embodiment of the present application.

[0024] In the drawings: base body 1, tactile feedback electrode 2, middle stimulation electrode 21, circular ring inhibition electrode 22, extra-field stimulation electrode 3, segmented sub-electrode 31. DETAILED DESCRIPTION

[0025] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0026] Embodiment 1

[0027] The present embodiment provides a tactile spatial position recognition system based on extra-field stimulation, as shown in Figure 1As shown, it comprises several electrodes mounted on the base 1, including several tactile feedback electrodes 2 arranged corresponding to the finger pulp, several space orientation electrodes 3 (also called field-external stimulation electrodes) arranged corresponding to the outside of the finger pulp, and a control module (not shown in the figure). The several tactile feedback electrodes 2 form a feedback electrode array. The space orientation electrodes 3 are field-external stimulation electrodes capable of generating stimulation current.

[0028] The field-external stimulation electrodes 3 are at least associated with the tactile feedback electrodes 2 adjacent to them (i.e. adjacent to the field-external stimulation electrodes), and the tactile feedback electrodes 2 and their associated field-external stimulation electrodes 3 are on the same circumference of the finger. The tactile feedback electrodes can be connected or not connected to their associated field-external stimulation electrodes.

[0029] Specifically, the field-external stimulation electrodes 3 can be associated only with the tactile feedback electrodes 2 adjacent to them, and have no corresponding or associated relationship with the rest of the feedback electrode array. The field-external stimulation electrodes 3 can also be associated with one or more tactile feedback electrodes in the same row of the feedback electrode array. In this case, one or more continuously distributed tactile feedback electrodes in the same row of the feedback electrode array are generally associated with the same field-external stimulation electrode. For example, the feedback electrode array is processed as an axisymmetric, and the multiple tactile feedback electrodes in the same row of the feedback electrode array and on the same outer side of the axis of symmetry with the field-external stimulation electrode are all associated with the same field-external stimulation electrode, and the multiple tactile feedback electrodes and the field-external stimulation electrode are distributed on the same circumference of the finger. For another example, the first 1-3 tactile feedback electrodes in the same row of the feedback electrode array are associated with the field-external stimulation electrode on the left outer side of the finger pulp, the last 1-3 tactile feedback electrodes in the same row of the feedback electrode array are associated with the field-external stimulation electrode on the right outer side of the finger pulp, and the rest of the tactile feedback electrodes in the same row of the feedback electrode array can not be associated with the field-external stimulation electrode due to being located in the center of the finger pulp.

[0030] The control module is connected to the several tactile feedback electrodes and the several field-external stimulation electrodes, respectively. The control module receives the working state signal of the tactile feedback electrodes, and according to the working state of the tactile feedback electrodes, controls whether the field-external stimulation electrodes associated with the tactile feedback electrodes work or not, according to the association between the electrode stimulation site and the virtual touch. When the tactile feedback electrodes work, the control module applies a micro-current to the field-external stimulation electrodes associated with the tactile feedback electrodes, so that the field-external stimulation electrodes work to produce a touch stimulation at the skin on the outside of the finger pulp where the field-external stimulation electrodes are located, thereby sending a space orientation positioning signal.

[0031] Therefore, in this embodiment, by setting an extra-domain stimulation electrode on the outer side of the fingertip, the associated extra-domain stimulation electrode is activated when the tactile feedback electrode is working. Since the extra-domain stimulation electrode stimulates the skin outside the fingertip (i.e., the outer side of the fingertip) in the same row as the feedback electrode array, the recipient can more accurately determine the specific location of the tactile feedback electrode applying microcurrent to the fingertip based on the stimulation location information of the extra-domain stimulation electrode 3 and the tactile perception given by the associated tactile feedback electrode, thereby improving the recipient's tactile spatial location recognition ability. Therefore, in the entire tactile perception process, the extra-domain stimulation electrode plays a role in spatial guidance and positioning, making it easier for the recipient to quickly and accurately perceive the specific location of the microcurrent stimulation generated on the fingertip.

[0032] Furthermore, in this embodiment, an extra-domain stimulation electrode can be provided only on one outer side of the fingertip; alternatively, extra-domain stimulation electrodes can be provided on both outer sides of the fingertip. The spatial guidance and positioning effect of providing extra-domain stimulation electrodes on both outer sides of the fingertip is superior to that of providing extra-domain stimulation electrodes only on one outer side of the fingertip.

[0033] like Figure 1 As shown, in this invention, the substrate 1 can be an elastic finger sleeve that can be fitted onto the finger, so that the tactile feedback electrode 2 and the spatial guiding electrode 3 can make close contact with the finger skin. Figure 2 As shown, the substrate 1 can also be a flexible and bendable touch panel. The shape of the touch panel can be adjusted according to the shape of the finger so that the haptic feedback electrode 2 and the spatial guide electrode 3 can make close contact with the finger skin.

[0034] like Figure 1 As shown, in another preferred embodiment, a plurality of tactile feedback electrodes 2 are distributed on the fingertip in a matrix with three columns, such as a 3x3 matrix. The column of tactile feedback electrodes 2 on the left side of the fingertip is correspondingly provided with an extradomain stimulation electrode 3 located on the left outer side of the fingertip, and the column of tactile feedback electrodes 2 on the right side of the fingertip is correspondingly provided with an extradomain stimulation electrode 3 located on the right outer side of the fingertip. The column of tactile feedback electrodes 2 in the middle of the fingertip is not correspondingly provided with an extradomain stimulation electrode 3. The tactile feedback electrodes can also be configured in a 6x3 matrix, with the two columns of tactile feedback electrodes on the left side of the fingertip correspondingly provided with an extradomain stimulation electrode located on the left outer side of the fingertip, the two columns of tactile feedback electrodes on the right side of the fingertip correspondingly provided with an extradomain stimulation electrode located on the right outer side of the fingertip, and the two columns of tactile feedback electrodes in the middle of the fingertip not correspondingly provided with an extradomain stimulation electrode.

[0035] With the above scheme, when the tactile feedback electrode 2 on the left side of the finger pad works to generate a micro-current to stimulate the left side of the finger pad, the out-of-field stimulating electrode 3 next to the left side also works to generate a micro-current to stimulate the left outer side of the finger pad; similarly, when the tactile feedback electrode 2 on the right side of the finger pad works to generate a micro-current to stimulate the right side of the finger pad, the out-of-field stimulating electrode 3 next to the right side also works to generate a micro-current to stimulate the right outer side of the finger pad. Thus, under the spatial guidance of the out-of-field stimulating electrode, the subject can more accurately determine the positions of the tactile feedback electrodes on the left and right sides of the finger pad to which the micro-current is applied.

[0036] Compared with setting two columns of tactile feedback electrodes, the difficulty of spatial position recognition of setting three columns of tactile feedback electrodes can better test the subject's ability in spatial position recognition. Although the tactile feedback electrode in the middle of the finger pad is not correspondingly provided with an out-of-field stimulating electrode, the tactile sensitivity of the middle of the finger pad is higher than that of the two sides of the finger pad, and the accuracy of spatial position recognition is inherently higher; and when the tactile feedback electrode in the middle of the finger pad generates a micro-current, the subject cannot feel the current stimulation on the outer side of the finger pad, and through the exclusion method, it can be determined that the tactile feedback electrode generating the micro-current is located in the middle of the finger pad, and the accuracy of the subject in perceiving the spatial position of the tactile feedback electrode to which the micro-current is applied can be improved.

[0037] It should be noted that before spatial position recognition, the correlation between the electrode stimulation site and the virtual touch needs to be established, and the established correlation can be stored in the control module. The correlation includes: setting a tactile feedback electrode as a reference point, assigning numbers to the out-of-field stimulating electrodes and the remaining tactile feedback electrodes other than the reference point, marking the corresponding relationship between the tactile feedback electrodes and the out-of-field stimulating electrodes, and associating the position of the stimulation site selected by the micro-current with the number of the tactile feedback electrode. The control module determines whether the tactile feedback electrode has an associated out-of-field stimulating electrode based on the correlation and the number of the tactile feedback electrode in the working state, and applies a micro-current to the associated out-of-field stimulating electrode if there is one.

[0038] When establishing the correlation, first, select a tactile feedback electrode in the feedback electrode array as a reference point, number the out-of-field stimulating electrodes and the remaining tactile feedback electrodes other than the reference point, and mark the corresponding relationship between the tactile feedback electrodes and the out-of-field stimulating electrodes; then select the tactile feedback electrode at the reference point, apply a micro-current for a first predetermined time (e.g., 1 second), and then select the remaining tactile feedback electrodes one by one after a second predetermined time (e.g., 0.5 seconds); associate the position of the stimulation site selected by the micro-current with the number of the tactile feedback electrode.

[0039] For example, the feedback electrode array usesFigure 1 As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times.

[0040] In the present application, when the haptic feedback electrode 2 generates a stimulating micro-current, the frequency of the stimulating micro-current is preferably 500 Hz, and the pulse width is 200 us. Starting from a micro-current of 0.1 mA, the current intensity is gradually adjusted with an accuracy of 0.02 mA each time until the subject can feel a weak stimulation or pain.

[0041] As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times. Figure 1 As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times.

[0042] As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times. Figure 3 and Figure 4 As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times.

[0043] In the present embodiment, the stimulating current and the inhibiting current are applied to the middle stimulating electrode 21 and the circular ring inhibiting electrode 22, respectively; or after the stimulating current is applied to the middle stimulating electrode 21 for a third preset time (for example, 200 us), the inhibiting current is applied to the circular ring inhibiting electrode 22.

[0044] As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times. Figure 1 and Figure 2 As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times. Figure 2 As shown in the 3x3 matrix, the haptic feedback electrodes 2 are numbered first, and the center position of the 3x3 matrix is taken as the reference point. When micro-current stimulation is performed, the haptic feedback electrode at the center position is selected first for micro-current stimulation for 1 second, and 0.5 seconds later, the haptic feedback electrode with the corresponding number is selected for micro-current stimulation, and the subject is informed of the current selected stimulation site position. In the same way, each spatial position is selected for three times.

[0045] Preferably, each extra-field stimulation electrode 3 comprises a plurality of independently-operable segmented sub-electrodes 31, and the frequency and voltage of each segmented sub-electrode 31 can be adjusted respectively. By dividing the extra-field stimulation electrode into a plurality of segmented sub-electrodes, the parameters such as the frequency and voltage of each segmented sub-electrode can be adjusted according to the actual situation, so that the parameters of the extra-field stimulation can be adjusted to the tolerance range of the recipient, improving the comfort, and also ensuring the safety of wearing.

[0046] Embodiment 2

[0047] The embodiment provides a recognition method based on the haptic spatial position recognition system of embodiment 1, comprising the following steps:

[0048] S1, determining the haptic feedback electrode in the working state;

[0049] S2, acquiring the micro-electric stimulation intensity of the haptic feedback electrode in the working state;

[0050] S3, the control module determines whether there is an associated extra-field stimulation electrode for the haptic feedback electrode in the working state according to the number of the haptic feedback electrode in the working state, according to the association between the electrode stimulation site and the virtual haptic, and further determines the extra-field stimulation electrode associated with the haptic feedback electrode in the working state, i.e. determines the matched extra-field stimulation electrode;

[0051] S4, applying a micro-current to the determined extra-field stimulation electrode to make the determined extra-field stimulation electrode work and emit a spatial orientation positioning signal.

[0052] In the preferred embodiment, the method of applying a micro-current to the determined extra-field stimulation electrode is: applying a micro-current stimulation signal from the center point of the haptic feedback electrode 2 emitting the micro-current stimulation to the edge point of the extra-field stimulation electrode 3; the micro-current stimulation signal is transmitted in the segmented sub-electrodes 31 of the extra-field stimulation electrode 3 in turn, and the frequency and voltage gradually increase. The stimulation signal gradually increases from weak to strong, which is beneficial for the recipient to feel the stimulation micro-current, and further improves the haptic spatial position recognition ability of the recipient.

[0053] Preferably, the maximum voltage of the segmented sub-electrode 31 of the extra-field stimulation electrode 3 away from the edge point of the haptic feedback electrode 2 is less than half of the maximum voltage corresponding to the extreme point. The maximum voltage corresponding to the extreme point is the maximum voltage of the haptic feedback electrode 2. By limiting the maximum voltage of the extra-field stimulation electrode, it is avoided that the voltage of the extra-field stimulation electrode is too large, and the safety and comfort of the recipient are ensured.

[0054] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A tactile spatial position recognition system based on extracorporeal stimulation, characterized in that, The device comprises a plurality of tactile feedback electrodes arranged corresponding to the finger pulp, a plurality of extra-field stimulation electrodes arranged corresponding to the outer side of the finger pulp, and a control module; The extra-field stimulation electrodes are associated with at least one tactile feedback electrode adjacent thereto, and the tactile feedback electrode and the extra-field stimulation electrode associated therewith are on the same circumference of the finger; The control module is connected with the plurality of tactile feedback electrodes and the plurality of extra-field stimulation electrodes respectively; according to the working state of the tactile feedback electrode, the control module controls whether the extra-field stimulation electrode associated with the tactile feedback electrode works or not according to the association between the electrode stimulation site and the virtual touch; When the tactile feedback electrode works, the control module applies a micro-current to the extra-field stimulation electrode associated with the tactile feedback electrode, so that the extra-field stimulation electrode works to generate a touch stimulation at the skin outside the finger pulp where the extra-field stimulation electrode is located, thereby sending a spatial orientation positioning signal; The association comprises: setting a tactile feedback electrode as a reference point, assigning numbers to the extra-field stimulation electrodes and the remaining tactile feedback electrodes other than the reference point, marking the corresponding relationship between the tactile feedback electrode and the extra-field stimulation electrode associated therewith, and associating the position of the selected electrode stimulation site with the number of the tactile feedback electrode; The extra-field stimulation electrodes are arranged on the outer side of one side of the finger pulp, or on the outer side of both sides of the finger pulp.

2. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 1, characterized in that, The plurality of tactile feedback electrodes form a feedback electrode array. The extra-field stimulation electrodes are associated with at least one tactile feedback electrode adjacent thereto, or the extra-field stimulation electrodes are associated with one or more continuous tactile feedback electrodes in the same row of the feedback electrode array.

3. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 2, characterized in that, When the extra-field stimulation electrodes are arranged on the outer side of both sides of the finger pulp, the first 1-3 tactile feedback electrodes in the same row of the feedback electrode array are associated with the extra-field stimulation electrodes on the left outer side of the finger pulp, the last 1-3 tactile feedback electrodes in the same row of the feedback electrode array are associated with the extra-field stimulation electrodes on the right outer side of the finger pulp, and the remaining tactile feedback electrodes in the same row of the feedback electrode array are not associated with the extra-field stimulation electrodes.

4. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 1, wherein, The tactile feedback electrode comprises a middle stimulation electrode for applying a stimulation current, and a circular ring inhibition electrode arranged outside the middle stimulation electrode for inhibiting the diffusion of the stimulation current.

5. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 4, characterized in that, The amplitude of the inhibition current generated by the circular ring inhibition electrode is 1 / 4 of the stimulation current of the middle stimulation electrode, and the phase of the inhibition current is opposite to that of the stimulation current.

6. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 4, characterized in that, The stimulation current and the inhibition current are applied to the middle stimulation electrode and the circular ring inhibition electrode respectively; or after the stimulation current is applied to the middle stimulation electrode for a predetermined time, the inhibition current is applied to the circular ring inhibition electrode.

7. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 1, wherein, Each extra-field stimulation electrode comprises a plurality of segmented sub-electrodes working independently, and the frequency and voltage of each segmented sub-electrode are adjusted respectively; the plurality of segmented sub-electrodes of the same extra-field stimulation electrode are arranged along the circumferential direction of the finger.

8. The haptic spatial position recognition system based on extracorporeal stimulation according to claim 1, wherein, The plurality of tactile feedback electrodes and the plurality of extra-field stimulation electrodes are arranged on a base body; The base body is an elastic finger sleeve sleeved on the finger, or a flexible and bendable touch panel.

9. A method for recognizing a haptic spatial position based on an extra-domain stimulus, characterized by, The haptic space position recognition system according to any one of claims 1-8 is implemented, comprising the following steps: S1, determining a haptic feedback electrode in a working state; S2, acquiring a micro-electric stimulation intensity of the haptic feedback electrode in the working state; S3, a control module determines whether there is an associated out-of-domain stimulation electrode for the haptic feedback electrode in the working state according to the number of the haptic feedback electrode in the working state and the association between the electrode stimulation site and the virtual haptic, and if there is, further determines the out-of-domain stimulation electrode associated with the haptic feedback electrode in the working state; S4, applying a micro-current to the determined out-of-domain stimulation electrode to make the determined out-of-domain stimulation electrode work and emit a spatial orientation positioning signal.

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