Tactile stimulator

Abstract

The application discloses a kind of tactile stimulators, it is related to experimental equipment, biological matching facility technical field.Tactile stimulators include: positioning module;Wideband vibration generation module, wideband vibration generation module includes: woofer, woofer is configured to output linear displacement in 1-1000Hz frequency band, woofer is installed on positioning module;Conduction module, conduction module includes force transmission rod and vibration transmission head, one end of force transmission rod is connected woofer, vibration transmission head is connected the other end of force transmission rod, and vibration transmission head is used to touch animal skin target point.The tactile stimulator can be aimed at the specific position of the limbs of animal, realize the accurate adjustment of intensity and vibration frequency, and support to carry out long-term, repeatable tactile stimulation on the same position;It has wide adjustment range, strong practicality.

Description

Technical Field

[0001] This invention belongs to the technical field of experimental equipment and biological supporting facilities, and specifically relates to a tactile stimulator. Background Technology

[0002] For tactile studies of rats and mice, the small size and irregular surface shape of their limbs make it extremely difficult to precisely apply tactile stimulation of a specific force and frequency to a particular location. Existing vibration stimulation methods generate impact by switching on and off a solenoid valve or by using an eccentric motor to transmit vibrations to a striking mechanical component. However, the generation of this impact is limited by the response efficiency of the solenoid valve and the rotational speed of the eccentric motor. When the frequency of the on / off switching exceeds a certain value (often around 200Hz), the switching speed of the solenoid valve cannot keep up with the switching rate in a timely manner.

[0003] Considering portability for small animals and safety in experimental settings, small DC eccentric motors, limited by the balance between power and size, can only reach 500 rpm (approximately 8 Hz), while even high-power eccentric motors can only reach 3000 rpm (50 Hz). Reports indicate that the tactile perception frequency of rats and mice can reach 500 Hz, far exceeding the vibration frequency generated by solenoid valves and eccentric motors.

[0004] Besides the limitation of vibration frequency, the impact force generated by the two methods mentioned above is also limited by the rated operating range of the solenoid valve and the eccentric motor, making effective force control difficult. Therefore, tactile stimulation devices deserve improvement to address these issues. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a tactile stimulator that can precisely adjust the tactile force and stimulation frequency for specific locations on an animal's limbs.

[0006] A tactile stimulator according to an embodiment of the present invention includes: a positioning module; a broadband vibration generating module, the broadband vibration generating module including: a bass horn configured to output linear displacement in a frequency band of 1–1000 Hz, the bass horn being mounted on the positioning module; and a conduction module including a force transmission rod and a vibration transmission head, one end of the force transmission rod being connected to the bass horn, and the vibration transmission head being connected to the other end of the force transmission rod, the vibration transmission head being used to strike target points on animal skin.

[0007] According to an embodiment of the tactile stimulator of the present invention, when the bass speaker is powered on, the bass speaker converts the input electrical signal into mechanical vibration (reciprocating motion of the paper cone). The vibration is transmitted to the vibration transmission head through the force transmission rod and maintains directionality and force. Finally, the vibration transmission head accurately contacts the target point on the animal's skin and stimulates the skin receptors through the periodic action of mechanical force, thereby triggering the animal's neural response or behavioral feedback.

[0008] The woofer is adjustable within a 1-1000Hz range, meaning it can produce different tactile stimuli. For example, lower frequencies (e.g., 1-50Hz) produce a slow tapping sound; as the frequency increases (e.g., 100-500Hz), the tapping rhythm quickens, producing a vibrating sensation similar to rapid tapping; and the closer to 1000Hz, the faster the tapping becomes. In other words, the lower the frequency output by the woofer, the lower the stimulation frequency; the higher the frequency output by the woofer, the higher the stimulation frequency.

[0009] The force received by the force transmission rod is transmitted to the target point on the animal's skin by the vibration transmission head. The impact force of the force transmission rod can be adjusted by adjusting the output power of the subwoofer. For example, if the power of the subwoofer is amplified by the power amplifier control board, the amplitude of the subwoofer will increase, and the force transmission rod connected to the subwoofer will ultimately increase the stimulation force applied to the animal's skin.

[0010] Thus, the stimulation frequency of the vibration drive head can be controlled by adjusting the output frequency of the subwoofer; the amplitude of the subwoofer can be controlled by adjusting the output power of the subwoofer through the power amplifier control board, which in turn controls the impact force of the vibration drive head. In some embodiments, there are at least two vibration drive heads, each of which is detachably connected to the force transmission rod.

[0011] In some embodiments, the vibration transmission head has a transmission surface for contacting the target point on the animal skin; The transmission surface areas of different vibration transmission heads are not equal.

[0012] In some embodiments, the force transmission rod is provided with a insertion hole, and one end of the vibration transmission head is provided with a insertion post, which is inserted into the insertion hole; All of the aforementioned vibration drive heads have the same pin shape and size.

[0013] In some embodiments, the broadband vibration generating module further includes: A microcontroller is used to program vibration stimulation sequences. A power amplifier control board is provided, through which the microcontroller is connected to the subwoofer. The power amplifier control board adjusts the power of the subwoofer according to the vibration stimulation sequence.

[0014] In some embodiments, the woofer includes a speaker mount and a cone component, the speaker mount being mounted on the positioning module, and the force transmission rod being connected to the cone component.

[0015] In some embodiments, the positioning module includes: A gripping robotic arm holds the subwoofer in place.

[0016] In some embodiments, the positioning module further includes: A three-dimensional micro-displacement stage, on which the gripping manipulator is mounted.

[0017] In some embodiments, the three-dimensional micro-displacement stage has an output platform, and the gripping manipulator is mounted on top of the output platform via a support rod.

[0018] In some embodiments, the gripping robot includes: Clamping seat; Gripper assemblies, wherein the gripper assemblies are arranged in pairs on the gripper base, each gripper assembly comprising: A first rotating rod, one end of which is rotatably connected to the clamping seat, and a clamping gear is provided at one end of the first rotating rod; The second rotating rod, one end of which is rotatably connected to the clamp; The clamping rod is hinged to the first rotating rod and the second rotating rod respectively, and the clamping rod, the first rotating rod, the second rotating rod, and the clamping seat constitute a four-bar linkage mechanism; A drive assembly, comprising a drive motor, a drive gear, and a reverse gear, wherein the motor shaft of the drive motor is connected to the drive gear, the drive gear meshes with the clamping gear of one of the gripper assemblies, and the drive gear meshes with the clamping gear of another gripper assembly via the reverse gear; The two gripper assemblies rotate in opposite directions to grip the woofer.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a tactile stimulator according to some embodiments of this application; Figure 2 A schematic diagram of a broadband vibration sound-generating module according to some embodiments of this application; Figure 3 This is a schematic diagram of the paper cone component in a woofer according to some embodiments of this application; Figure 4 This is a circuit diagram of a power amplifier control board controlling the adjustment of a subwoofer in some embodiments of this application; Figure 5 This is a schematic diagram of the various components included in the gripping robot of some embodiments of this application.

[0021] Figure label: Tactile stimulator 10, target point P0, Positioning Module 1 Clamping robot 11, gripper 111, gripper assembly 112, first rotating rod 1121, second rotating rod 1122, gripper rod 1123, drive assembly 113. 12-dimensional micro-displacement stage, 121 output platform, 122 support rod Wideband vibration generation module 2 21. Subwoofer horn, 211. Horn mount, 212. Cone assembly, 2121. Diaphragm, 2122. Voice coil, 2123. Magnet, 2124. T-shaped iron, 2125. Surround, 2126. Centering support, 2127. Frame, 2128. Dust cover. 22 microcontrollers Amplifier control board 23, knob 231 Transmission module 3, force transmission rod 31, vibration transmission head 32, transmission surface 321 Computer 4. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "axial", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The tactile stimulator 10 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0026] The tactile stimulator 10 according to an embodiment of the present invention, with reference to Figure 1 It includes: positioning module 1, broadband vibration generation module 2, and transmission module 3.

[0027] In this application, the tactile stimulator 10 is a device that simulates or modulates tactile perception through mechanical vibration. It can apply controllable physical stimulation to the skin or deep tissues, thereby activating tactile neural pathways. It is commonly used in medical rehabilitation, health monitoring, human-computer interaction, surgery, or scientific research experiments. Specific application areas are not limited here; for convenience, mice and rats will be used as research subjects in the following description.

[0028] The positioning module 1 in the tactile stimulator 10 is a device for acquiring and outputting the machine's position information in three-dimensional space in real time. The positioning module 1 integrates at least one positioning technology, continuously collects the motion parameters of the tactile stimulator 10, and outputs the absolute coordinates or relative reference point position information of the tactile stimulator 10 after data fusion and algorithm processing by the computer 4.

[0029] The tactile stimulator 10 also includes a broadband vibration generation module 2 and a conduction module 3. The broadband vibration generation module 2 includes a bass horn 21, which is configured to output linear displacement in the 1–1000Hz frequency band and is mounted on the positioning module 1. The conduction module 3 includes a force transmission rod 31 and a vibration transmission head 32. One end of the force transmission rod 31 is connected to the bass horn 21, and the vibration transmission head 32 is connected to the other end of the force transmission rod 31. The vibration transmission head 32 is used to strike the animal's skin target point P0.

[0030] Specifically, the woofer 21 can cover the Hertz range of low, mid, and high frequencies. In this application, after the woofer 21 is powered on, the mechanical vibration of the diaphragm 2121 pushes the force transmission rod 31 connected to the woofer 21, and the vibration transmission head 32 provided on the force transmission rod 31 is used to strike the target point P0 on the animal's skin.

[0031] In some embodiments, when researchers are studying only one physical quantity, such as the effect of vibration frequency on the tactile nerves of an animal, it is necessary to control different vibration frequencies, but the resulting tactile force remains unchanged.

[0032] During this process, the bass speaker 21 can adjust the stimulation frequency received by the rat and mouse by changing its frequency. Specifically, when the bass speaker 21 inputs a low frequency, the vibration drive head 32 generates a slow and regular stimulation with a relatively long interval between each stimulation, forming a low-frequency slow-rhythm stimulation; when the bass speaker 21 inputs a mid-frequency frequency, the stimulation time of the vibration drive head 32 is shortened, presenting a rapid and continuous tapping vibration, and the stimulation frequency is significantly increased; when the bass speaker 21 inputs a high frequency, the stimulation rhythm of the vibration drive head 32 is further accelerated to a high-frequency micro-vibration state, with each stimulation almost continuous, forming an extremely high-frequency stimulation pattern.

[0033] In other embodiments, if the effect of impact force on the tactile nerves of an animal is to be studied, the vibration frequency of the subwoofer 21 is kept constant while the power of the subwoofer 21 is adjusted. The most direct way to adjust the power of the subwoofer 21 is to connect it to a power amplifier. Alternatively, the driving voltage of the subwoofer 21 can be directly increased, the amplitude of the subwoofer 21 can be amplified through a mechanical structure, or the number of subwoofers 21 can be increased to enhance the impact force of the vibration transmission head 32.

[0034] When the power of the bass speaker 21 is increased, the amplitude of the diaphragm 2121 of the bass speaker 21 increases, and the range of motion of the diaphragm 2121 expands. The mechanical thrust generated by the diaphragm 2121 is directly transmitted to the force transmission rod 31, and the impact force applied by the vibration transmission head 32 connected to the force transmission rod 31 to the target point P0 on the skin of the mouse and rat increases. Conversely, reducing the power of the bass speaker 21 will reduce the impact force received by the target point P0 on the skin of the mouse and rat. In other words, the tactile stimulator 10 can conduct differentiated experiments on the impact force and stimulation frequency of mice and rats at different frequency bands and different output powers, so that the mice and rats can produce differentiated tactile stimulation results.

[0035] In some embodiments, there are at least two vibration transmission heads 32, each of which is detachably connected to the force transmission rod 31.

[0036] Two or more vibration transmission heads 32 are configured, and each vibration transmission head 32 can be detachably mounted on the force transmission rod 31. This means that during the experiment, personnel can flexibly adjust the mounting position or replace different types of vibration transmission heads 32 according to experimental needs. For example, pointed heads are used for localized impacts on the skin of mice and rats, while flat heads are used for large-area impacts on the skin of mice and rats. Alternatively, the same type of vibration transmission head 32 can be used to facilitate experiments on different mice and rats simultaneously, saving experimental time. This design allows a single vibration transmission head 32 to be used alone or in combination to adapt to different application scenarios.

[0037] In some embodiments, refer to Figure 1 The vibration transmission head 32 has a transmission surface 321 for contacting the target point P0 on the animal skin, and the transmission surface area varies for different vibration transmission heads 32.

[0038] Specifically, during the experiment, the transmission surface 321 of the vibration transmission head 32 is used to contact the target point P0 on the animal's skin, applying a certain tactile force and stimulation frequency to the rat or mouse through the transmission surface 321. A small-area transmission surface 321 is suitable for precise micro-stimulation, concentrated tactile force, and strong penetration; a medium-area transmission surface 321 is suitable for local area stimulation, balancing the stimulation range and depth; a large-area transmission surface 321 is suitable for wide vibration transmission, dispersed tactile force, and is suitable for low-intensity stimulation.

[0039] For example, in an experiment tracking the tactile sensation of the sole of a mouse's right hind limb for a long period, the diameter of the vibration transmission head 32 was 0.5 mm, and the area of ​​the transmission surface 321 was 0.25 mm². 2 Alternatively, in a micron-level dot matrix stimulation experiment on rat whisker pads, the diameter of the vibration transmission head 32 was 0.1 mm, and the area of ​​the transmission surface 321 was 0.01 mm². 2 The area of ​​the transmission surface 321 of the vibration transmission head 32 can be set according to specific experimental requirements.

[0040] Optionally, the transmission surface 321 can be made of biocompatible materials such as medical-grade silicone, titanium alloy or ceramic to ensure safety and durability.

[0041] In some embodiments, the force transmission rod 31 is provided with a socket, and one end of the vibration transmission head 32 is provided with a post. The post is inserted into the socket, and the post of all vibration transmission heads 32 has the same shape and size.

[0042] To install the vibration transmission head 32 onto the force transmission rod 31, simply insert one end of the vibration transmission head 32, that is, one end of the insertion post, into the insertion hole on the force transmission rod 31 to complete the assembly of the vibration transmission head 32. The design of the insertion hole and insertion post makes the assembly of the tactile stimulator 10 very convenient and time-saving.

[0043] Furthermore, all vibration drive heads 32 have identical pin shapes and sizes, and are compatible with the shape and size of the insertion holes. This standardized design significantly improves the applicability and ease of operation of the tactile stimulator 10. Operators only need to change the vibration drive head 32 to different sizes according to different operational needs, without needing to replace the force transmission rod 31 or readjust the standard position of the tactile stimulator 10. This saves time and enhances the flexibility and versatility of the tactile stimulator 10 in various scenarios.

[0044] In some embodiments, refer to Figure 1 The wideband vibration generation module 2 also includes a microcontroller 22 and a power amplifier control board 23.

[0045] A microcontroller, also known as a single-chip microcomputer, is a highly integrated microcomputer that integrates core components such as a central processing unit, memory, input / output interfaces, timers, and interrupt systems onto a single small chip. It is specifically designed to control various electronic devices and systems.

[0046] The power amplifier control board 23 is the "power amplification and control center" of the entire vibration system. Its main function is to receive control signals from the microcontroller 22, amplify the weak electrical signals into sufficiently strong power signals, and drive the vibration actuator to generate the required mechanical vibration.

[0047] Among them, the microcontroller 22 is used to burn vibration stimulation sequences, which include, but are not limited to: frequency, amplitude, duration, rest time, vibration waveform type (such as sine and cosine waveforms), digital level signals synchronized by other devices, and combination sequences of multiple parameters (such as "high frequency first, then low frequency" or "intermittent stimulation").

[0048] Generally, the signal output by the microcontroller 22 control unit is usually of low power, insufficient to directly drive the subwoofer 21 to produce a noticeable vibration effect. Therefore, the microcontroller 22 is connected to the subwoofer 21 through the power amplifier control board 23. Figure 1 , Figure 3 As shown, when the microcontroller 22 is started, it generates a control signal according to a preset vibration stimulation sequence. The power amplifier control board 23 receives the signal, amplifies it, and adjusts the power (such as increasing the current / voltage) so that the woofer 21 can generate sufficient vibration intensity. Under the drive of the power amplifier control board 23, the diaphragm 2121 of the woofer 21 vibrates at the target frequency and amplitude, thereby outputting a controllable mechanical vibration force. The force transmission rod 31 connected to the woofer 21 transmits the vibration force to the vibration transmission head 32, applying a corresponding impact force to the target point P0 on the animal's skin.

[0049] In some specific embodiments, control of the vibration frequency and power of the woofer 21 can be achieved according to the following steps.

[0050] First, the vibration frequency of the woofer 21 is determined according to the experimental requirements, and this frequency parameter is written into the microcontroller 22 through a program, such as... Figure 4 The Arduino microcontroller shown can generate periodically changing pulse signals on designated digital output pins (such as pin D5) according to preset instructions. The frequency of this pulse signal is determined by the timer period set in the program, which is the reciprocal of the time required to complete one complete high-low level change. The proportion of the high level within one cycle can be controlled by setting the duty cycle in the generated pulse signal. (The duty cycle is determined by the ratio of the high-level time to the entire cycle; that is, the duty cycle directly affects the average voltage level of the output signal of the power amplifier control board 23 within one cycle.) The higher the average voltage, the greater the effective power driving the subwoofer 21, resulting in stronger vibration of the subwoofer 21 and a greater impact force applied by the vibration drive head 32 to the target point P0 on the animal skin. Conversely, the lower the average voltage, the smaller the impact force.

[0051] The pulse signal output by the Arduino has limited amplitude and driving capability, and cannot directly drive the woofer 21 to the required power. Therefore, the signal output by the microcontroller 22 needs to be amplified by the power amplifier control board 23 (such as the PAM8403 power amplifier board). The PAM8403 can receive low-power signals from the Arduino input and convert them into high-power signals sufficient to drive the woofer 21. The PAM8403 power amplifier board has a gain adjustment knob 231, which can be manually rotated to change the amplification factor, thereby matching different power requirements.

[0052] like Figure 4 As shown, the input terminals of the PAM8403 are labeled "IN+" and "IN-". "IN+" connects to the positive terminal of the signal from the Arduino D5 pin, while "IN-" is typically connected to system ground (as a reference zero) in single-ended input mode, allowing the PAM8403 to receive the complete preamplifier (Arduino) signal. The PAM8403 amplifies this low-power signal and outputs a high-power differential signal sufficient to drive the woofer 21 at its output terminals "OUT+" and "OUT-". "OUT+" and "OUT-" are connected to the two terminals ("SP+" and "SP-") of the woofer 21, respectively. The coil inside the woofer 21 moves the diaphragm 2121 due to the voltage difference between these two output terminals. The PAM8403 has a gain adjustment knob 231, which can be manually rotated to change the amplification factor to match different load requirements.

[0053] As explained above, the vibration power of the woofer 21 is controlled by the gain adjustment knob 231, while the vibration frequency of the woofer 21 is determined by the timer within the Arduino. In other words, the vibration frequency of the woofer 21 is determined by setting the timer period in the program burned into the microcontroller 22. Therefore, the vibration frequency of the woofer 21 can be modified simply by modifying the timer-related parameters in the program on the computer 4 (the human-computer interface), recompiling, and burning the program into the microcontroller 22.

[0054] It should be noted that the models of the microcontroller 22 and power amplifier control board 23 in the above embodiments are merely examples to illustrate the feasibility and practicality of the solution in this application. Many models of microcontrollers 22 and power amplifier control boards 23 in the prior art can implement the above solution.

[0055] In some embodiments, refer to Figures 2-3 The woofer 21 includes a speaker mount 211 and a paper cone component 212. The speaker mount 211 is mounted on the positioning module 1, and the force transmission rod 31 is connected to the paper cone component 212.

[0056] The speaker mount 211 of the woofer 21 is securely installed in the designated position on the positioning module 1 using screws or clips, ensuring the installation stability of the woofer 21. The force transmission rod 31 is designed to be directly connected to the paper cone component 212, enabling the mechanical vibration force to be efficiently transmitted to the force transmission rod 31. The force transmission rod 31 transmits the vibration force to the vibration transmission head 32 for applying the corresponding impact force and stimulation frequency to the skin target point P0 of rats and mice.

[0057] In other embodiments, such as Figure 3 As shown, the paper cone component 212 in the woofer 21 also includes: a diaphragm 2121, a voice coil 2122, a magnet 2123, a T-shaped iron 2124, a surround 2125, a centering support 2126, a frame 2127, and a dust cover 2128.

[0058] Specifically, when current flows into the voice coil 2122 of the woofer 21, the voice coil 2122 is suspended in the magnetic gap formed by the magnet 2123 and the T-shaped iron 2124. The magnet 2123 provides a constant strong magnetic field, and the T-shaped iron 2124, in conjunction with the magnetic plate, ensures a uniform distribution of the magnetic field within the magnetic gap. The voice coil 2122, carrying the current, experiences an Ampere force in the magnetic field, generating a periodic driving force along the axial direction. That is, the current drives the voice coil 2122 to perform reciprocating linear motion. The voice coil 2122 is centrally connected to the diaphragm 2121, and the reciprocating motion of the voice coil 2122 directly drives the diaphragm 2121 to vibrate synchronously. The folded ring 2125 (usually made of rubber composite material) at the edge of the diaphragm 2121 and the centering support 2126 (multi-layer corrugated structure) at the bottom restrict the diaphragm 2121 to move only along the axial direction and avoid eccentric oscillation. At the same time, they provide the diaphragm 2121 with a restoring elastic force to ensure stable vibration. The frame 2127 (usually made of die-cast aluminum material) serves as the overall support structure, fixing all components such as the magnet 2123, T-shaped iron 2124, folded ring 2125, and centering support 2126, ensuring the relative position stability of each component and providing a reliable mounting foundation for the voice coil 2122 to drive the diaphragm 2121 to vibrate.

[0059] The force transmission rod 31 connected to the paper basin component 212 will achieve synchronous linkage with the reciprocating vibration of the basin membrane 2121. The impact force amplitude of the force transmission rod 31 is directly determined by the speed and acceleration characteristics of the basin membrane 2121 during vibration. The vibration force parameters and vibration frequency indicators of the basin membrane 2121 can be precisely controlled by the collaborative control unit composed of the microcontroller 22 and the power amplifier control board 23. Ultimately, the vibration transmission head 32 can be used to adjust the impact force of the rat and mouse and dynamically adapt the stimulation frequency, ensuring the controllability and consistency of the impact effect.

[0060] In some embodiments, refer to Figure 1 , Figure 2 The positioning module 1 includes: a gripping robot 11, with a subwoofer 21 clamped on the gripping robot 11.

[0061] The gripping robot 11 adopts an adaptive gripping structure design. Its gripping end is adapted to the outer contour of the radiator frame 2127 of the woofer 21. The elastic clamping force of the mechanical claw firmly clamps the woofer 21 in the preset installation position. The gripping robot 11 can be adjusted in multiple degrees of freedom (such as translation on the X, Y, and Z axes and rotation around the Z axis) to keep the vibration direction of the radiator 2121 of the woofer 21 coaxial with the axis of the force transmission rod 31. This ensures that the reciprocating vibration of the radiator 2121 can be efficiently transmitted to the force transmission rod 31, providing structural positioning guarantee for the precise control of the impact force and stimulation frequency.

[0062] In some embodiments, refer to Figure 1 , Figure 2The positioning module 1 also includes a three-dimensional micro-displacement stage 12, on which a clamping manipulator 11 is mounted.

[0063] The three-dimensional micro-stage 12 supports independent micro-form adjustment in the X, Y, and Z coordinate axes with high precision. Some three-dimensional micro-stages 12 are also equipped with grating ruler displacement feedback units on each axis to achieve real-time closed-loop calibration of the adjustment position. By operating the control knob of the three-dimensional micro-stage 12 or linking with the host computer control system, the spatial position of the gripping manipulator 11 and the gripped bass speaker 21 can be precisely adjusted, while ensuring that the distance between the vibration transmission head 32 and the target point P0 on the skin of the rat and mouse meets the preset requirements, providing a reliable spatial positioning basis for the uniform transmission of the impact force and the accurate output of the stimulation frequency.

[0064] Furthermore, the three-dimensional micro-displacement stage 12 has an output platform 121, and the gripping manipulator 11 is mounted on top of the output platform 121 via a support rod 122.

[0065] Specifically, the top of the output platform 121 is provided with a mounting port for a support rod 122. The upper end of the support rod 122 is rigidly connected to the gripping manipulator 11, and the length of the support rod 122 can be set according to installation or experimental requirements. Through the connection design of the support rod 122, not only is a stable assembly of the gripping manipulator 11 and the three-dimensional micro-displacement stage 12 output platform 121 achieved, but the installation height of the subwoofer 21 can also be flexibly adjusted so that the relative positions of the force transmission rod 31 and the vibration transmission head 32 meet the alignment requirements of the animal skin target point P0.

[0066] In some embodiments, refer to Figure 2 , Figure 5 The gripping robot 11 includes: a gripper 111, a gripper assembly 112, and a drive assembly 113.

[0067] like Figure 5 As shown, the gripper assemblies 112 are arranged in pairs on the gripper base 111, and each gripper assembly 112 includes: a first rotating rod 1121, a second rotating rod 1122 and a gripping rod 1123.

[0068] Specifically, the clamping assembly 112 includes a clamping base 111 and a four-bar linkage mounted thereon. One end of the first rotating rod 1121 is hinged to the clamping base 111, and a clamping gear (not shown) is fixedly mounted at this end for meshing with the drive assembly 113 to achieve rotation. The second rotating rod 1122 is also hinged to the clamping base 111 at one end, maintaining a relative position to the first rotating rod 1121. Both ends of the clamping rod 1123 are movably connected to the first rotating rod 1121 and the second rotating rod 1122 via hinge points, thus forming a complete four-bar linkage together with the first rotating rod 1121, the second rotating rod 1122, and the clamping base 111. When the clamping gear is driven to rotate, it drives the first rotating rod 1121 to rotate around its position on the clamping base 111. This, in turn, through the linkage of the four-bar linkage, pushes the clamping rod 1123 to move, thereby clamping or releasing the subwoofer 21.

[0069] Furthermore, the drive assembly 113 includes a drive motor (not shown), a drive gear (not shown), and a reverse gear (not shown). The motor shaft of the drive motor is connected to the drive gear. The drive gear meshes with the clamping gear of a gripper assembly 112. The drive gear meshes with the clamping gear of another gripper assembly 112 through the reverse gear. The clamping rods 1123 of the two gripper assemblies 112 rotate in opposite directions to clamp and release the subwoofer 21.

[0070] The drive assembly 113 adopts a symmetrical reverse drive structure design to ensure that the two gripper assemblies 112 can move synchronously and in opposite directions, thereby achieving stable clamping and release of the subwoofer 21. Specifically, the drive assembly 113 includes a drive motor, a drive gear, and a reverse gear. The drive motor is fixedly mounted on the clamping base 111 or a corresponding mounting base, and its motor shaft is coaxially connected to the drive gear to provide driving force. The drive gear directly meshes with the clamping and releasing gear in one of the gripper assemblies 112. When the drive motor runs, the drive gear rotates accordingly and drives the first rotating rod 1121 of the gripper assembly 112 to rotate. Through the linkage of the four-bar linkage, the clamping rod 1123 on that side produces a corresponding opening and closing action to pick up and release the subwoofer 21.

[0071] Simultaneously, the drive gear meshes with a reverse gear, which in turn meshes with the clamping gear of another gripper assembly 112. Due to the reverse gear, the clamping gears of the two gripper assemblies 112 rotate in opposite directions, resulting in the first rotating rods 1121 in the two gripper assemblies 112 rotating in opposite directions. Ultimately, this causes the clamping rods 1123 on both sides to move in opposite directions: when one clamping rod 1123 retracts inward, the other clamping rod 1123 also retracts inward simultaneously, thus bringing the two clamping rods 1123 closer together to clamp the subwoofer 21; conversely, they release simultaneously, releasing the subwoofer 21. This drive method features a compact structure and precise transmission, ensuring a high degree of coordination between the actions of the two gripper assemblies 112, effectively improving the clamping stability and positioning accuracy of the subwoofer 21.

[0072] In some embodiments, refer to Figure 1 The workflow of the tactile stimulator 10 in this application for experiments or surgery on mice and rats is as follows: S1: Fix a certain limb of the rat or mouse to be studied on the platform and mark the touch point in advance, which is the animal skin target point P0. S2: Adjust the three-dimensional micro-moving stage 12, move the force transmission rod 31 closer to the impact point, and move the vibration transmission head 32 closer to the point above the impact point; S3: The microcontroller 22 is powered on, starts generating a vibration signal and sends a synchronization signal to the peripheral device to mark the start and end times of the vibration; S4: After point one is completed, the vibration transmission head 32 is moved to point two by the three-dimensional micro-moving stage 12, the single-chip microcomputer 22 is reset, and the rat and mouse are vibrated again. This process is repeated to complete the application of multi-position tactile stimulation to the target limb area. S5: Vibration stimulation is complete. Remove the vibration drive head 32, safely return the rat and mouse, and the tactile stimulation ends.

[0073] In this process, the vibration transmission head 32 can provide multi-position tactile stimulation to mice and rats. It can be precisely controlled by simply controlling the three-dimensional micro-stage 12 to move in the three directions of X, Y, and Z.

[0074] In other specific embodiments, reference is made to... Figure 1 When conducting some experiments (such as long-term tracking of tactile sensation on the sole of the right hind limb of a mouse), the experimental procedure of the tactile stimulator 10 of this application is as follows: SS1: Eight-week-old C57BL / 6J mice were anesthetized with 2% isoflurane, fixed prone on a flat plate with their paws facing upwards; SS2: Mark the target point P0 on the sole of the foot with sterile dye under a microscope; SS3: Manipulate the three-dimensional micro-displacement stage 12, and use the vibration transmission head 32 with a diameter of 0.5mm to lightly touch the target point P0; SS4: The microcontroller loads a vibration stimulation sequence: frequency 250Hz, pulse width 20ms, time interval 980ms, and a total of 300 cycles; SS5: Reset the coordinates of the three-dimensional micro-stage 12 before each day's experiment; SS6: Record sensory evoked potentials (SEPs) in mice and compare them with baseline to verify long-term repeatability.

[0075] The above is a standardized neuroelectrophysiological validation experiment of rat plantar mechanical tactile stimulation. The experimental results showed that the 14-day SEP latency CV was <4%, the force drift was <2%, and there was no histological damage to the mouse plantar surface.

[0076] In the aforementioned experiments, the coefficient of variation (CV) of the SEP latency of the tactile stimulator 10 of this application was <4%, meaning that the timing of the electrical signals generated by the rat's nervous system after each stimulation over 14 days fluctuated very little. The force drift of <2% indicates that the vibration transmission head 32 and other actuators controlled by the three-dimensional micro-displacement stage 12 consistently applied precise stimulation force to the rat's foot without significant deviation. In other words, the tactile stimulator 10 of this application exhibits stability and reliability during long-term tactile stimulation.

[0077] In some other specific embodiments, reference is made to Figure 1 When performing other experiments (such as micron-level dot matrix stimulation of rat whisker pads), the tactile stimulator 10 of this application follows the following experimental procedure: SSS1: Eight-week-old C57BL / 6J rats were anesthetized with 2% isoflurane and fixed on a plate; SSS2: Marking rat whisker target point P0 with sterile dye under a microscope; SSS3: Manipulate the three-dimensional micro-displacement stage 12, and select a vibration transmission head 32 with a diameter of 0.1mm; SSS4: The microcontroller loads a vibration stimulation sequence: using a 7×7 dot matrix, 10µm spacing, 1000Hz frequency, 1s stimulation per point, and 2mN impact force.

[0078] During the aforementioned experiment, stereotactic electroencephalography (EEG) recording of barrel cortex discharges clearly distinguished the functional columns corresponding to a single row of whiskers. In other words, one of the key factors for the success was the precise targeting of the tactile stimulator 10 to the whisker points of the rats. If the stimulation was inaccurate, such as simultaneously touching multiple whiskers or misaligning the stimulation location, the recorded neural activity might contain information from multiple whiskers, making it impossible to distinguish which functional column corresponds to which whisker, thus rendering the interpretation of the experimental results ambiguous or even erroneous.

[0079] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0080] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A tactile stimulator, characterized in that, include: Positioning module; A broadband vibration generating module, comprising: A subwoofer configured to output linear displacement in the 1–1000Hz frequency band, the subwoofer being mounted on the positioning module; A microcontroller is used to program vibration stimulation sequences. A power amplifier control board is provided, through which the microcontroller is connected to the subwoofer. The power amplifier control board adjusts the power of the subwoofer according to the vibration stimulation sequence. The transmission module includes a force-bearing transmission rod and a vibration transmission head. One end of the force-bearing transmission rod is connected to the bass speaker, and the vibration transmission head is connected to the other end of the force-bearing transmission rod. The vibration transmission head is used to strike a target point on the animal's skin. There are at least two vibration transmission heads, each of which is detachably connected to the force-bearing transmission rod. Each vibration transmission head has a transmission surface for contacting the target point on the animal's skin, and the area of ​​the transmission surface of different vibration transmission heads is different. The woofer includes a speaker mount and a cone component. The speaker mount is mounted on the positioning module, and the force transmission rod is connected to the cone component.

2. The tactile stimulator according to claim 1, characterized in that, The force-bearing transmission rod is provided with a insertion hole, and one end of the vibration transmission head is provided with a insertion post, which is inserted into the insertion hole. All of the aforementioned vibration drive heads have the same pin shape and size.

3. The tactile stimulator according to any one of claims 1-2, characterized in that, The positioning module includes: A gripping robotic arm holds the subwoofer in place.

4. The tactile stimulator according to claim 3, characterized in that, The positioning module further includes: A three-dimensional micro-displacement stage, on which the gripping manipulator is mounted.

5. The tactile stimulator according to claim 4, characterized in that, The three-dimensional micro-displacement stage has an output platform, and the gripping manipulator is mounted on top of the output platform via a support rod.

6. The tactile stimulator according to claim 3, characterized in that, The gripping robot includes: Clamping seat; Gripper assemblies, wherein the gripper assemblies are arranged in pairs on the gripper base, each gripper assembly comprising: A first rotating rod, one end of which is rotatably connected to the clamping seat, and a clamping gear is provided at one end of the first rotating rod; The second rotating rod, one end of which is rotatably connected to the clamp; The clamping rod is hinged to the first rotating rod and the second rotating rod respectively, and the clamping rod, the first rotating rod, the second rotating rod, and the clamping seat constitute a four-bar linkage mechanism; A drive assembly, comprising a drive motor, a drive gear, and a reverse gear, wherein the motor shaft of the drive motor is connected to the drive gear, the drive gear meshes with the clamping gear of one of the gripper assemblies, and the drive gear meshes with the clamping gear of another gripper assembly via the reverse gear; The two gripper assemblies rotate in opposite directions to grip the woofer.

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