A multimodal tactile feedback method and device based on focused ultrasound and electrical combined stimulation

Abstract

The present invention discloses a multimodal tactile feedback method and device based on combined focused ultrasound and electrical stimulation, the method comprising: obtaining the tactile needs of a target object, and determining the target part of the target object to be stimulated according to the tactile needs; adjusting the frequency, power, and pulse width of the focused ultrasound according to the tactile needs to obtain target focused ultrasound, applying the target focused ultrasound to the deep nerves and muscles of the target part, and synchronously or asynchronously applying the surface electrodes of the electrical stimulation to the superficial nerve endings of the target part to achieve multimodal tactile simulation and obtain multimodal tactile simulation results. The present invention utilizes the high spatiotemporal resolution and non-invasive deep stimulation characteristics of focused ultrasound, as well as the superficial characteristics of electrical stimulation in tactile perception, to trigger multimodal sensations, aiming to provide rich, accurate, and diverse tactile feedback through the organic combination of the two stimulation modalities to meet the rehabilitation needs of patients with sensory disorders.

Description

Technical Field

[0001] The present invention relates to the field of tactile feedback technology, and in particular to a multimodal tactile feedback method, device, terminal and computer-readable storage medium based on focused ultrasound and electrical combined stimulation. Background Art

[0002] With the widespread application of tactile feedback technology in medical rehabilitation, virtual reality (VR), augmented reality (AR), and bionics, research on tactile perception through external stimulation has garnered increasing attention. The core of tactile stimulation technology is to simulate the natural human sense of touch by applying physical or electrical signals to the skin or nervous system to activate tactile receptors. This technology not only provides a new means of rehabilitation treatment for people with sensory impairments but also demonstrates great potential for enhancing the immersion and interactivity of virtual environments.

[0003] Tactile stimulation technologies are typically based on physical means such as electricity, mechanics, heat, and ultrasound. However, existing single-modal tactile stimulation technologies, due to limitations in physical mechanisms and device characteristics, have limitations in spatial resolution, variety of stimulation types, and depth control, making it difficult to achieve natural and precise tactile feedback.

[0004] Mechanical stimulation applies physical pressure or vibration to the skin's surface through a vibrating motor or piezoelectric element. This is suitable for simulating surface pressure and texture, but the stimulation range is limited to the skin's surface and cannot affect deeper tissues. It also lacks tactile resolution and complex feedback experience. Thermal stimulation simulates temperature sensation by heating or cooling the skin. While it can provide unique temperature perception, it has a slow response speed, making it difficult to achieve a dynamic tactile experience. It also carries the risk of user discomfort caused by overheating or overcooling.

[0005] In contrast, electrical stimulation, which activates nerve fibers by applying microcurrents to the skin's surface, can effectively simulate surface tactile sensations such as pressure, vibration, and texture. While the equipment is simple and the technology is mature, its spatial resolution and tactile accuracy are limited due to the diffusivity of current within the human body. Furthermore, the bandwidth of stimulation is insufficient, making it difficult to simulate complex tactile experiences. Furthermore, electrical stimulation struggles to reach deeper tissues, making it difficult to meet the rehabilitation needs of certain deep sensory disorders. Ultrasound stimulation, on the other hand, relies primarily on focused mechanical waves to generate a localized thermal effect within the target tissue. This effect triggers a mechanical response in the tissue, effectively activating deep nerves or muscles and providing precise deep tactile feedback. Compared to traditional electrical stimulation, ultrasound stimulation offers higher spatial resolution and the ability to simulate deep tactile sensations such as pain and heat through a non-contact approach. However, ultrasound technology also faces challenges, such as bulky and expensive equipment and the need for complex parameter adjustments in practical applications. Furthermore, ultrasound alone struggles to effectively simulate the diversity of surface tactile sensations, and focused ultrasound stimulation is difficult and expensive to synchronize with multiple probes, complicating its application.

[0006] Current single-modality tactile stimulation technologies are unable to meet the demands for multimodal tactile sensations in complex scenarios in practical applications. Mechanical and thermal stimulation are limited to surface perception and cannot provide deep stimulation and a rich variety of tactile sensations. Although electrical stimulation and focused ultrasound have unique advantages in tactile feedback, they have obvious shortcomings when used alone. For example, the resolution and depth control capabilities of electrical stimulation are insufficient, and focused ultrasound is not natural enough in simulating surface tactile sensations such as pressure and vibration. Especially in the field of medical rehabilitation for people with sensory impairments, these technologies are not yet sufficient to meet the needs of comprehensive reconstruction of deep and surface sensations at the same time. In addition, most current tactile feedback devices are single-modal in design and lack effective solutions for multimodal integration, making it difficult to create a more realistic and natural tactile experience.

[0007] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0008] The main purpose of the present invention is to provide a multimodal tactile feedback method, device, terminal and computer-readable storage medium based on combined focused ultrasound and electrical stimulation, aiming to solve the problem that the current single-modal tactile stimulation technology in the prior art is difficult to meet the needs of multimodal tactile in complex scenarios in practical applications.

[0009] To achieve the above objectives, the present invention provides a multimodal tactile feedback method based on focused ultrasound and electrical stimulation, the multimodal tactile feedback method based on focused ultrasound and electrical stimulation comprising the following steps:

[0010] Acquiring a tactile requirement of a target object, and determining a target part of the target object to be stimulated according to the tactile requirement;

[0011] The frequency, power and pulse width of the focused ultrasound are adjusted according to the tactile needs to obtain target focused ultrasound, and the target focused ultrasound is applied to the deep nerves and muscles of the target area, and the surface electrodes of the electrical stimulation are synchronously or asynchronously applied to the superficial nerve endings of the target area to achieve multimodal tactile simulation and obtain multimodal tactile simulation results.

[0012] Optionally, in the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation, the perceptions generated by the target focused ultrasound include pain, heat and deep touch; and the tactile feedback generated by the electrical stimulation includes pressure, light touch, vibration and texture.

[0013] Optionally, the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation further comprises:

[0014] When performing multimodal tactile simulation through focused ultrasound stimulation and electrical stimulation, the stimulation mode is controlled through temporal regulation or spatial regulation.

[0015] Optionally, in the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation, the time control specifically includes:

[0016] Produce coordinated or independent sensations in the same or different parts through synchronous or asynchronous stimulation control;

[0017] The synchronous stimulation control means that focused ultrasound stimulation and electrical stimulation are performed simultaneously, and the asynchronous stimulation control means that focused ultrasound stimulation and electrical stimulation are performed at intervals;

[0018] The synchronous stimulation control is used to allow the target subject to feel a deep vibration sensation and a shallow pressure sensation simultaneously;

[0019] The asynchronous stimulation control is used to simulate the temporal changes of thermal sensation and texture sensation respectively, so as to enhance the dynamic expressiveness of tactile feedback.

[0020] Optionally, in the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation, the spatial control specifically includes:

[0021] Adjust the placement of stimulators and stimulation parameters at different locations to achieve differentiated tactile perception in multiple areas;

[0022] Combined action of focused ultrasound and electrical stimulation in the same area, and sensory construction in different areas through stimulator distribution and stimulation control;

[0023] Wherein, the stimulator includes a focused ultrasound transducer and an electrical stimulation electrode.

[0024] Optionally, the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation further comprises:

[0025] Combined with stimulator placement and parameter optimization algorithms, stimulation intensity and range are dynamically adjusted.

[0026] Optionally, in the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation, the parameter optimization algorithm is used to adjust the power and frequency pulse width of the focused ultrasound stimulation, and the amplitude and pulse width of the electrical stimulation.

[0027] In addition, to achieve the above-mentioned object, the present invention further provides a multimodal tactile feedback device based on focused ultrasound and electrical combined stimulation, wherein the multimodal tactile feedback device based on focused ultrasound and electrical combined stimulation comprises:

[0028] a demand and part determination module, configured to obtain the tactile demand of the target object and determine the target part of the target object to be stimulated according to the tactile demand;

[0029] The multimodal tactile simulation module is used to adjust the frequency, power and pulse width of the focused ultrasound according to the tactile demand to obtain target focused ultrasound, apply the target focused ultrasound to the deep nerves and muscles of the target area, and synchronously or asynchronously act on the superficial nerve endings of the target area through surface electrodes of electrical stimulation to achieve multimodal tactile simulation and obtain multimodal tactile simulation results.

[0030] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a multimodal tactile feedback program based on focused ultrasound and electrical combined stimulation stored in the memory and runnable on the processor, wherein the multimodal tactile feedback program based on focused ultrasound and electrical combined stimulation, when executed by the processor, implements the steps of the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation as described above.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a multimodal tactile feedback program based on focused ultrasound and electrical combined stimulation, and when the multimodal tactile feedback program based on focused ultrasound and electrical combined stimulation is executed by a processor, the steps of the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation as described above are implemented.

[0032] In the present invention, the tactile needs of the target object are obtained, and the target part of the target object to be stimulated is determined according to the tactile needs; the frequency, power and pulse width of the focused ultrasound are adjusted according to the tactile needs to obtain target focused ultrasound, and the target focused ultrasound is applied to the deep nerves and muscles of the target part, and the surface electrodes of the electrical stimulation are synchronously or asynchronously applied to the superficial nerve endings of the target part to achieve multimodal tactile simulation and obtain multimodal tactile simulation results. The present invention utilizes the high spatiotemporal resolution and non-invasive deep stimulation characteristics of focused ultrasound, as well as the superficial characteristics of electrical stimulation in tactile perception, to achieve the triggering of multimodal sensations, aiming to provide rich, accurate and diverse tactile feedback through the organic combination of the two stimulation modalities to meet the rehabilitation needs of patients with sensory disorders. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of a preferred embodiment of the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation of the present invention;

[0034] Figure 2 1 is a schematic diagram of overall composite stimulation in a preferred embodiment of the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation of the present invention;

[0035] Figure 3 Schematic diagram of single-area composite stimulation in a preferred embodiment of the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation of the present invention;

[0036] Figure 4 It is a schematic diagram of multi-region composite stimulation in a preferred embodiment of the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] In response to the technical problems of current tactile feedback technology, such as the single type of tactile sensation, insufficient stimulation accuracy, limited deep perception coverage, and lack of natural tactile experience, the present invention proposes a multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation. The present invention uses the high temporal and spatial resolution characteristics of focused ultrasound to achieve non-invasive and precise stimulation of deep nerves and muscles, which can produce rich deep tactile perceptions including pain, deep pressure, temperature, and acupuncture-like sensations; at the same time, combined with electrical stimulation technology, it utilizes its mature advantages in simulating surface light touch, pressure, vibration, and texture touch to solve the limitations of a single modality in tactile types and stimulation range.

[0039] This invention optimizes the overall performance of tactile feedback through multimodal collaborative control, simultaneously covering both surface and deep tactile perception, significantly enhancing the richness and realism of tactile feedback. This method can be widely applied to rehabilitation treatment for patients with sensory impairments, virtual reality tactile interaction, bionic tactile systems, and other fields requiring high-precision, multimodal tactile simulation, providing a comprehensive, accurate, and non-invasive solution for the development of tactile feedback technology.

[0040] The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation described in the preferred embodiment of the present invention is as follows: Figure 1 As shown, the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation includes the following steps:

[0041] Step S10: Acquire the tactile requirements of the target object, and determine the target part of the target object to be stimulated according to the tactile requirements.

[0042] Specifically, for the sensory impairment group, the rehabilitation needs of the sensory impairment patients (i.e., target subjects) are obtained (i.e., tactile needs, such as comprehensive needs that simultaneously meet deep and surface sensations), and then the target parts to be stimulated (e.g., one part or multiple parts) are determined based on the tactile needs of the sensory impairment patients.

[0043] Step S20: adjusting the frequency, power, and pulse width of the focused ultrasound according to the tactile demand to obtain target focused ultrasound, applying the target focused ultrasound to the deep nerves and muscles of the target area, and applying the electrically stimulated surface electrodes to the superficial nerve endings of the target area synchronously or asynchronously to achieve multimodal tactile simulation and obtain multimodal tactile simulation results.

[0044] Specifically, focused ultrasound (FUS) is a non-invasive treatment technology that uses ultrasonic energy to precisely focus on specific parts of the body, generating thermal or mechanical effects to achieve therapeutic purposes (i.e., high-frequency sound waves are generated by a transducer, and the sound waves are focused on the target area through a lens or phased array, generating high temperature or mechanical vibration at the focus, stimulating the nerves). The frequency, power, and pulse width of the focused ultrasound are adjusted according to the tactile needs (i.e., they are measured in advance through experiments based on the subject's perception, and the relevant parameters are adjusted within the human body's acceptable range) to obtain targeted focused ultrasound, which is then precisely applied to deep nerves and muscles, producing a variety of perceptions including pain, heat, and deep touch.

[0045] Electrical stimulation (ES) is a technology that stimulates nerves or muscles with electrical current to elicit specific physiological responses. This current is delivered to the target tissue via electrodes, stimulating the nerves or muscles and inducing action potentials. Depending on the stimulation parameters, this can produce effects such as muscle contraction, pain relief, or neuromodulation. ES acts on superficial nerve endings via surface electrodes. By adjusting the current waveform, it can simulate various tactile feedback sensations, including pressure, light touch, vibration, and texture. The two modalities work together synchronously (electrical stimulation and ultrasound act simultaneously) or asynchronously (sequentially, for example, electrical stimulation for one second followed by focused ultrasound stimulation for another second). This modality division of labor complements each other's strengths, creating a rich multimodal tactile experience, enabling real-time and efficient control, and enhancing the realism and comfort of tactile feedback.

[0046] By coordinating and integrating these two stimulation modalities, leveraging the high spatiotemporal resolution and non-invasive deep stimulation of focused ultrasound, and the shallow tactile properties of electrical stimulation, multimodal sensations can be triggered, including touch, pain, heat, vibration, and texture perception. This combined stimulation method can simultaneously produce multiple sensory effects in the same area, significantly improving the spatial resolution and depth of tactile feedback. It offers non-invasive, highly flexible, and personalized features, enabling three-dimensional tactile simulation.

[0047] In the present invention, in terms of regulating the stimulation mode, the present invention proposes a regulation method in two dimensions of time and space, that is, when performing multimodal tactile simulation through focused ultrasound stimulation and electrical stimulation, the stimulation mode is controlled through time regulation or space regulation to achieve richer and more accurate tactile simulation.

[0048] (1) In terms of time regulation, synchronous stimulation control or asynchronous stimulation control can be used to generate coordinated or independent sensations at the same part or different parts; the synchronous stimulation control means that focused ultrasound stimulation and electrical stimulation are performed simultaneously, and the asynchronous stimulation control means that focused ultrasound stimulation and electrical stimulation are performed at intervals; the synchronous stimulation control is used to allow the target object to feel deep vibration and shallow pressure at the same time; the asynchronous stimulation control is used to simulate the temporal changes of thermal sensation and texture sensation respectively, so as to enhance the dynamic expressiveness of tactile feedback. That is, through synchronous and asynchronous stimulation control, coordinated or independent sensations can be generated at the same part or different parts. For example, synchronous control can allow the user to feel deep vibration and shallow pressure at the same time, while asynchronous control can simulate the temporal changes of thermal sensation and texture sensation respectively, thereby enhancing the dynamic expressiveness of tactile feedback.

[0049] (2) In terms of spatial control, the arrangement of stimulators and stimulation parameters at different locations are adjusted to achieve differentiated tactile perception in multiple regions; in the same region, focused ultrasound and electrical stimulation are used for combined action, and sensation is constructed in different regions through stimulator distribution and stimulation control; wherein, the stimulator includes a focused ultrasound transducer and an electrical stimulation electrode. That is, by adjusting the arrangement of stimulators at different locations and stimulation parameters (such as frequency, pulse width, power, etc., which are adjusted by coding control of the stimulator circuit), differentiated tactile perception in multiple regions can be achieved. In the same region, a rich tactile experience can be constructed at the same location through the combined action of focused ultrasound and electrical stimulation; and in different regions, a wider range of sensation construction can be achieved through sensor distribution and stimulation control, for example, while feeling deep pressure in the center of the palm, a shallow vibration sensation is generated in the fingertip area. Furthermore, by combining the layout of the stimulator network (multiple stimulators distributed across the body surface to form a network, i.e., a multi-point distributed stimulation network) with a parameter optimization algorithm (a parameter optimization algorithm is used to adjust electrode and ultrasound stimulation parameters, such as the amplitude and pulse width of electrical stimulation, and the power and frequency pulse width of ultrasound stimulation), the stimulation intensity and range can be dynamically adjusted. For example, a patient with unilateral tactile insensitivity can use a small stimulator on the contralateral side of the body to achieve sensory substitution. For users who require realistic sensory interaction in VR scenes, a large-scale stimulator deployment across the body is required. Similarly, the choice of stimulation intensity must be tailored to the user's needs and the characteristics of their tactile sense. For example, for sensitive users, the stimulation intensity may need to be lowered, while for users with reduced sensory perception, the stimulation intensity may need to be increased to achieve the same subjective perception), achieving a more flexible tactile experience. This control scheme significantly improves the sophistication and controllability of tactile feedback, providing more comprehensive technical support for VR tactile interaction and rehabilitation of sensory impairments.

[0050] like Figure 2 As shown in the figure, it is a schematic diagram of the overall composite stimulation. Focused ultrasound is generated by a focused ultrasound transducer (Focused Ultrasound Transducer, which emits focused ultrasound to stimulate a specific muscle or tissue of the patient, and can also produce a variety of different sensations and rehabilitation therapy effects) to stimulate the deep nerves and muscles of the target area, producing a variety of perceptions including pain, heat and deep touch. Electrical stimulation is generated by electrical stimulation electrodes to act on the superficial nerve endings. By adjusting the current waveform, various tactile feedback such as pressure, light touch and texture can be simulated. Figure 3 As shown in Figure 1, it is a schematic diagram of single-area composite stimulation, where the focused ultrasound transducer and the electrical stimulation electrode act on the same part of the human tissue synchronously or asynchronously. Figure 4As shown, it is a schematic diagram of multi-region composite stimulation. Two focused ultrasound transducers act on the deep nerves and muscles of two parts respectively, and two electrical stimulation electrodes act on the superficial nerve endings of the other two parts respectively, which can achieve simultaneous stimulation of four parts (or even more parts) at the same time.

[0051] The beneficial effects brought about by the technical solution of the present invention are:

[0052] (1) The present invention realizes multimodal tactile feedback by combining focused ultrasound and electrical stimulation, which can provide a richer and more complex tactile experience, including but not limited to pressure, vibration, texture, pain and heat.

[0053] (2) The high spatial resolution and deep stimulation capabilities of focused ultrasound make up for the shortcomings of electrical stimulation in tactile feedback, and can stimulate deep tissues and reconstruct complex tactile perception. Electrical stimulation technology is mature and can effectively simulate superficial touch. Combined with focused ultrasound stimulation, it complements each other's strengths and forms a more natural and precise tactile reconstruction solution.

[0054] (3) The implementation methods of the present invention are flexible and diverse, and can adapt to a variety of application scenarios, such as fixed rehabilitation equipment, wearable devices and rehabilitation robots, which greatly expands the application scope of the technology.

[0055] The present invention realizes a collaborative working mechanism of multimodal touch by combining the technical advantages of focused ultrasound and electrical stimulation. Focused ultrasound is responsible for simulating deep tactile perception, including pinprick sensation, deep pressure sensation, pain and temperature sensation, etc.; electrical stimulation is responsible for simulating surface tactile perception, such as light touch, pressure sensation, vibration and texture sensation. Through the combined use of the two modalities, a variety of tactile categories from the surface to the deep layer can be dynamically covered, which greatly enriches the types and perception range of tactile feedback and realizes three-dimensional tactile feedback. Most of the existing technologies are single-modal tactile feedback designs, which cannot realize the simulation of surface and deep touch at the same time. The multimodal collaborative working mechanism of the present invention realizes a natural and coherent tactile transition, and enhances the realism and richness of the tactile experience.

[0056] The present invention uses the high spatial resolution and deep focusing characteristics of focused ultrasound to accurately stimulate target tissues at the millimeter level and achieve precise positioning of deep tactile points. At the same time, electrical stimulation supplements the resolution of surface touch through parameter optimization, making surface tactile feedback more natural. The combination of the two technologies effectively solves the defects of a single modality: electrical stimulation causes tactile diffusion and difficulty in precise positioning due to the conductivity of the human body, and although focused ultrasound has high resolution, it is insufficient in simulating surface touch. The present invention achieves a combination of high spatial resolution and multi-level tactile feedback through combined stimulation technology, bringing more accurate and natural perception capabilities to the tactile system.

[0057] The present invention designs a real-time dynamic collaborative control mechanism that can dynamically adjust the intensity, frequency, waveform and stimulation timing of focused ultrasound and electrical stimulation according to tactile needs. By introducing algorithm optimization and sensor feedback, the system can realize intelligent adjustment of tactile stimulation, including mode switching (single mode or combined mode), adaptive regulation of stimulation parameters and real-time coordination. This mechanism ensures the naturalness, consistency and personalization of tactile feedback. Existing tactile feedback technologies are mostly static parameter control and cannot meet the real-time needs of complex tactile scenarios. The dynamic collaborative mechanism of the present invention can not only flexibly adapt to different tactile scenarios (such as deep rehabilitation or surface touch simulation), but also dynamically respond to user needs to achieve highly personalized tactile feedback.

[0058] Furthermore, based on the above-mentioned multimodal tactile feedback method based on focused ultrasound and electrical stimulation, the present invention also provides a multimodal tactile feedback device based on focused ultrasound and electrical stimulation, wherein the multimodal tactile feedback device based on focused ultrasound and electrical stimulation includes:

[0059] a demand and part determination module, configured to obtain the tactile demand of the target object and determine the target part of the target object to be stimulated according to the tactile demand;

[0060] The multimodal tactile simulation module is used to adjust the frequency, power and pulse width of the focused ultrasound according to the tactile demand to obtain target focused ultrasound, apply the target focused ultrasound to the deep nerves and muscles of the target area, and synchronously or asynchronously act on the superficial nerve endings of the target area through surface electrodes of electrical stimulation to achieve multimodal tactile simulation and obtain multimodal tactile simulation results.

[0061] The demand and location determination module and the multimodal tactile simulation module can be integrated into a terminal, which includes a processor and a memory. In some embodiments, the memory can be an internal storage unit of the terminal, such as a hard drive or memory of the terminal. In other embodiments, the memory can also be an external storage device of the terminal, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory can include both the internal storage unit of the terminal and an external storage device. The memory is used to store application software installed in the terminal and various data, such as program code of the terminal. The memory can also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory stores a multimodal tactile feedback program based on combined focused ultrasound and electrical stimulation. This multimodal tactile feedback program based on combined focused ultrasound and electrical stimulation can be executed by the processor, thereby implementing the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation described in this application. In some embodiments, the processor may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program code or process data stored in the memory, such as executing the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation.

[0062] The terminal in the present invention can be applied as a fixed device, a wearable device, and a rehabilitation robot, as follows:

[0063] (1) Fixed equipment: Fixed equipment suitable for rehabilitation treatment rooms, including tactile feedback beds or chairs, with electrical stimulation electrodes and focused ultrasound transducers pre-installed on the contact surface between the patient's skin and the equipment.

[0064] (2) Wearable devices: Wearable devices designed based on flexible materials, such as tactile gloves, arm sleeves, etc., which integrate micro ultrasonic transducers and electrical stimulation electrodes for portable rehabilitation training or daily assistance.

[0065] (3) Rehabilitation Robot (Robot Integration): This tactile feedback method is integrated into a rehabilitation robot, utilizing the mechanical tactile sense of the rehabilitation robot in combination with joint stimulation technology to enhance the rehabilitation effect. For example, for patients with sensory loss or sensory decline, the present invention can be used for stimulation to trigger the patient's rich and complex tactile experience, thereby continuously stimulating the patient's tactile receptors and strengthening the repair and establishment of neural pathways, thereby playing a role in the rehabilitation of patients with such symptoms.

[0066] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a multimodal tactile feedback program based on combined focused ultrasound and electrical stimulation, and when the multimodal tactile feedback program based on combined focused ultrasound and electrical stimulation is executed by a processor, the steps of the multimodal tactile feedback method based on combined focused ultrasound and electrical stimulation as described above are implemented.

[0067] In summary, the present invention provides a multimodal tactile feedback method, device, terminal and computer-readable storage medium based on combined focused ultrasound and electrical stimulation. The method includes: obtaining the tactile needs of a target object, and determining the target part of the target object to be stimulated according to the tactile needs; adjusting the frequency, power and pulse width of the focused ultrasound according to the tactile needs to obtain target focused ultrasound, and applying the target focused ultrasound to the deep nerves and muscles of the target part, and synchronously or asynchronously applying the surface electrodes of the electrical stimulation to the superficial nerve endings of the target part to achieve multimodal tactile simulation and obtain multimodal tactile simulation results. The present invention utilizes the high spatiotemporal resolution and non-invasive deep stimulation characteristics of focused ultrasound, as well as the superficial characteristics of electrical stimulation in tactile perception, to achieve the triggering of multimodal sensations, aiming to provide rich, accurate and diverse tactile feedback through the organic combination of the two stimulation modalities to meet the rehabilitation needs of patients with sensory disorders.

[0068] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or terminal comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or terminal comprising the element.

[0069] Of course, those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium that can be read by a computer. When executed, the program can include the processes in the above-described method embodiments. The computer-readable storage medium can be a memory, a magnetic disk, an optical disk, etc.

[0070] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A multimodal tactile feedback method based on focused ultrasound and electrical stimulation, characterized in that: The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation includes: Acquiring a tactile requirement of a target object, and determining a target part of the target object to be stimulated according to the tactile requirement; The frequency, power, and pulse width of the focused ultrasound are adjusted according to the tactile demand to obtain target focused ultrasound, and the target focused ultrasound is applied to the deep nerves and muscles of the target area, and the surface electrodes of the electrical stimulation are synchronously or asynchronously applied to the superficial nerve endings of the target area to achieve multimodal tactile simulation and obtain multimodal tactile simulation results. By combining focused ultrasound and electrical stimulation, multimodal tactile feedback is achieved, dynamically covering multiple tactile categories from the surface to the deep layer, enriching the types and perception range of tactile feedback, and realizing three-dimensional tactile feedback. When multimodal tactile simulation is performed through focused ultrasound stimulation and electrical stimulation, the stimulation mode is controlled through temporal regulation or spatial regulation; the temporal regulation specifically includes: Produce coordinated or independent sensations in the same or different parts through synchronous or asynchronous stimulation control; The synchronous stimulation control means that focused ultrasound stimulation and electrical stimulation are performed simultaneously, and the asynchronous stimulation control means that focused ultrasound stimulation and electrical stimulation are performed at intervals; The synchronous stimulation control is used to allow the target subject to feel a deep vibration sensation and a shallow pressure sensation simultaneously; The asynchronous stimulation control is used to simulate the temporal changes of thermal sensation and texture sensation respectively, so as to enhance the dynamic expressiveness of tactile feedback.

2. The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation according to claim 1, characterized in that: The perceptions generated by the targeted focused ultrasound include pain, heat, and deep touch; the tactile feedback generated by the electrical stimulation includes pressure, light touch, vibration, and texture.

3. The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation according to claim 1, characterized in that: The spatial regulation specifically includes: Adjust the placement of stimulators and stimulation parameters at different locations to achieve differentiated tactile perception in multiple areas; Combined action of focused ultrasound and electrical stimulation in the same area, and sensory construction in different areas through stimulator distribution and stimulation control; Wherein, the stimulator includes a focused ultrasound transducer and an electrical stimulation electrode.

4. The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation according to claim 3, characterized in that: The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation further includes: Combined with stimulator placement and parameter optimization algorithms, stimulation intensity and range are dynamically adjusted.

5. The multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation according to claim 4, characterized in that: The parameter optimization algorithm is used to adjust the power and frequency pulse width of focused ultrasound stimulation, as well as the amplitude and pulse width of electrical stimulation.

6. A multimodal tactile feedback device based on focused ultrasound and electrical stimulation, characterized in that: The multimodal tactile feedback device based on focused ultrasound and electrical combined stimulation is used to perform the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation according to any one of claims 1 to 5, and the multimodal tactile feedback device based on focused ultrasound and electrical combined stimulation comprises: a demand and part determination module, configured to obtain the tactile demand of the target object and determine the target part of the target object to be stimulated according to the tactile demand; The multimodal tactile simulation module is used to adjust the frequency, power and pulse width of the focused ultrasound according to the tactile demand to obtain target focused ultrasound, apply the target focused ultrasound to the deep nerves and muscles of the target area, and synchronously or asynchronously act on the superficial nerve endings of the target area through surface electrodes of electrical stimulation to achieve multimodal tactile simulation and obtain multimodal tactile simulation results.

7. A terminal, characterized in that: The terminal includes: a memory, a processor, and a multimodal tactile feedback program based on focused ultrasound and electrical stimulation stored in the memory and runnable on the processor. When the multimodal tactile feedback program based on focused ultrasound and electrical stimulation is executed by the processor, the steps of the multimodal tactile feedback method based on focused ultrasound and electrical stimulation as described in any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a multimodal tactile feedback program based on focused ultrasound and electrical combined stimulation. When the multimodal tactile feedback program based on focused ultrasound and electrical combined stimulation is executed by a processor, the steps of the multimodal tactile feedback method based on focused ultrasound and electrical combined stimulation are implemented as described in any one of claims 1 to 5.

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