Self-powered passive electric tactile touch glove

Abstract

The present invention provides a self-powered passive electrotactile tactile glove, the self-powered passive electrotactile tactile glove comprising: a plurality of fabric-based triboelectric nanogenerators (TENGs) configured to collect electrostatic energy via physical contact; a plurality of power management circuits electrically connected to the plurality of TENGs, respectively, and configured to convert the electrostatic energy collected by the plurality of TENGs into electrical excitation signals; and a plurality of pairs of skin stimulation electrodes electrically connected to the plurality of gas discharge tube-based power management circuits, respectively, and configured to transmit the electrical excitation signal from the plurality of power management circuits to the skin of a user. The glove provided by the invention is light in weight, has autonomous maintenance characteristics and cost effectiveness, and thus has wide application potential in the fields of AR / VR, recovery therapy and mutual perception between robots and humans.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to electro-tactile sensing technology. More specifically, the present invention relates to a self-powered passive electro-tactile haptic glove. BACKGROUND

[0002] Currently, haptic perception is typically achieved through mechanical and electrical stimulation. For example, mechanical stimulation devices such as pneumatic actuators, linear motors, and shape memory alloys, are capable of directly applying mechanical stimulation to cutaneous sensory receptors in the skin, thereby creating a haptic experience. However, such devices typically require a large number of additional components and wires for power transmission and connection, resulting in a large overall size and heavy weight. In addition, certain other types of mechanical haptic interfaces, such as haptic devices based on piezoelectric materials, dielectric elastomers, and electromagnetic mechanisms, also face challenges such as heat generation, high operating voltage, and high cost in implementing large-size wearable haptic systems, thereby limiting their practical applications. In contrast, electro-tactile stimulation devices are considered to be a more suitable way of haptic stimulation for wearable devices by using small-sized electrode patterns to apply direct current or alternating current to cutaneous receptors, thereby achieving high-resolution haptic stimulation. However, such devices still face the challenge of high operating voltage, which can cause discomfort and potential safety hazards in long-term use. SUMMARY

[0003] To address the above shortcomings, the present invention provides a self-powered passive electro-tactile haptic (SPETH) glove for electro-stimulation therapy, prosthetic haptic sensory interface, and virtual reality applications.

[0004] In one aspect of the present invention, the self-powered passive electro-tactile haptic glove comprises: a plurality of textile-based triboelectric nanogenerators (TENGs) configured to collect electrostatic energy via physical contact; a plurality of power management circuits electrically connected to the plurality of textile-based triboelectric nanogenerators, respectively, and configured to convert the electrostatic energy collected by the plurality of triboelectric nanogenerators into electrical stimulation signals; and a plurality of pairs of skin stimulation electrodes electrically connected to the plurality of power management circuits, respectively, and configured to transmit the electrical stimulation signals from the plurality of power management circuits to the skin of a user.

[0005] Preferably, each textile-based triboelectric nanogenerator has a layered structure comprising: a first triboelectric electrode layer embroidered with conductive threads; a second triboelectric electrode layer embroidered with conductive threads; and a dielectric film sandwiched between the first and second triboelectric electrode layers.

[0006] Preferably, the dielectric film is a fluorinated ethylene propylene (FEP) film, a polytetrafluoroethylene (PTFE) film, or a polyvinylidene fluoride (PVDF) film.

[0007] Preferably, the conductive wire is a silver wire or a copper wire.

[0008] Preferably, the power management circuit comprises a capacitor configured to establish an electric field to store the harvested energy, and a gas discharge tube connected to the capacitor and configured to facilitate conduction of a discharge current acting as an electrical excitation signal when a voltage of the capacitor reaches a breakdown threshold.

[0009] Preferably, each fabric-based triboelectric nanogenerator is further configured to output the harvested energy as alternating current; and each power management circuit further comprises a rectifier configured to rectify the corresponding alternating current to direct current.

[0010] Preferably, the self-powered passive electrohaptic haptic glove further comprises a skin excitation patch comprising a flexible printed circuit board for housing the plurality of pairs of skin stimulation electrodes.

[0011] Preferably, each pair of skin stimulation electrodes comprises a first skin contact electrode connecting a first output terminal of the power management circuit to a first contact point on the skin, and a second skin contact electrode connecting a second output terminal of the power management circuit to a second contact point on the skin.

[0012] Preferably, each of the first and second skin contact electrodes has a semi-circular shape.

[0013] Preferably, each of the first and second skin contact electrodes is covered with a hydrogel film for enhancing contact with the skin and reducing impedance of the skin.

[0014] With the SPETH glove, mechanical energy generated by finger or hand movement is effectively converted into electrical stimulation for haptic feedback at designated locations of the hydrogel electrodes. These electrodes can be positioned on various locations of the human body to induce specific haptic sensations.

[0015] As an end-to-end solution, the SPETH glove can be integrated with robots, prosthetics, and VR / AR devices to achieve phantom limb sensation and passive haptic feedback systems without relying on external power sources or connecting cables. Furthermore, the glove has significant advantages over existing technologies in terms of self-powering, lightweight, and cost-effectiveness, demonstrating its potential applications in AR / VR, rehabilitation therapy, and human-computer interaction perception systems.

[0016] The SPETH glove provided by the present application has several significant advantages compared to the prior art, including: (1) self-powered and high efficiency: the SPETH glove generates electrical stimulation through triboelectric effect and gas breakdown discharge mechanism, thereby realizing accurate tactile perception. The system has excellent energy efficiency and can realize reliable tactile feedback transmission at very low energy consumption. (2) portability and cost-effectiveness: the SPETH glove of the present application is light in structure, has high self-maintenance characteristics, and is low in manufacturing cost, suitable for various scenes and has wide commercial application prospects. (3) wearable integrated design: unlike the existing mechanical tactile device which is bulky and complex in structure, the SPETH glove adopts a more lightweight and streamlined structure design, which is easy to integrate with prosthetic devices and human-computer interface systems. (4) passive interaction capability: the SPETH glove can work as a passive tactile feedback system, integrating sensing and feedback functions in a single device, realizing high coupling of sensory input and output, thereby building an intuitive and continuous interaction loop and enhancing user experience. BRIEF DESCRIPTION OF DRAWINGS

[0017] Embodiments of the present application are described in more detail below, with reference to the accompanying drawings, in which:

[0018] Figure 1 A schematic diagram of a self-powered passive electrohaptic glove (SPETH) according to an embodiment of the present application is shown;

[0019] Figure 2A An operating mechanism of the SPETH glove is shown; Figure 2B A hypothetical application based on the SPETH glove is shown;

[0020] Figure 3 A schematic diagram of a fabric-based triboelectric nanogenerator (TENG) according to an embodiment of the present application is shown;

[0021] Figure 4 The working principle of triboelectricity and electrostatic induction in the TENG is shown;

[0022] Figure 5A A flowchart depicting the manufacturing process of the TENG is shown; Figure 5B An enlarged image of a stitched part with a specific conductive pattern processed by an automatic embroidery machine is shown;

[0023] Figure 6 A schematic diagram of multiple power management circuits is shown;

[0024] Figure 7 The working mechanism of a gas discharge tube (GDT) in the power management circuit is shown;

[0025] Figure 8Demonstration of how the semi-circular stimulation electrodes of the SPETH glove can be used for haptic feedback;

[0026] Figure 9 Demonstration of the principle of generating tactile sensations through the SPETH glove;

[0027] Figure 10 Overall optical image depicting a prototype of the SPETH glove;

[0028] Figure 11A Demonstration of a magnified view of the electrical stimulation patch; and Figure 11B Demonstration of an exemplary configuration of stimulation electrodes;

[0029] Figure 12 Depiction of an electromyography (EMG) sensing system implemented with the SPETH glove;

[0030] Figure 13 Demonstration of different EMG signals measured with different capacitances;

[0031] Figure 14 Demonstration of the varying discharge frequency of electrical stimulation in the SPETH glove at a frequency of 1 Hz corresponding to different grip strengths;

[0032] Figure 15 Demonstration of the SPETH electrohaptic tactile glove for limb sensory feedback demonstration;

[0033] Figure 16 Demonstration of the pulsed current graph corresponding to different electrical activation signal patterns for various finger movements;

[0034] Figure 17 Demonstration of a confusion matrix depicting stimulation across different hand regions;

[0035] Figures 18A to 18C A potential application of the SPETH glove in a prosthetic limb is demonstrated. Figure 18A Demonstration of its basic setup; Figure 18B and 18C Two application demonstrations of the SPETH glove in a black box environment are depicted respectively;

[0036] Figure 19A and 19B Demonstration of the voltage and charge curves of the TENG unit of the SPETH glove under different pressures, with the TENG having a size of 1.5 cm x 1.5 cm; Figure 19C Demonstration of the voltage-time curve corresponding to the charging of different capacitors using the TENG unit; Figure 19D Demonstration of the voltage-time curve of the GDT under different voltage breakdown thresholds; Figure 19E Demonstration of the current and charge curves during skin discharge; Figure 19F Demonstration of a schematic of the current test of the GDT discharge;Figures 19G to 19I Current curves of different GDTs at different resistances, capacitances, and discharge thresholds are shown, respectively;

[0037] Figure 20A A schematic of a haptic feedback test is shown; Figure 20B and 20C A chart of sensory grading of male and female subjects at different capacitance and discharge threshold voltages is shown; Figure 20D A comparative plot of comfort zones of male and female subjects is shown; Figure 20E Voltage drop curves of GDTs at different discharge thresholds and capacitances are shown; Figure 20F and 20G Box plots of electrical stimulation energy received on the skin by male and female subjects at different sensory levels are shown, respectively; Figure 20G and 20I A distribution plot of electrical stimulation energy by male and female subjects at different sensations is shown; wherein the electrical stimulation energy is defined by the average of Figure 20F and 20G

[0038] Figure 21A A comparison of voltage and capacitance for minimum haptic perception for electrodes with different sizes is shown; Figure 21B A comparison of comfort thresholds at the center of the male arm for different age groups is shown; Figure 21C A comparison of comfort thresholds at the center of the female arm for different age groups is shown; Figure 21D A heatmap showing graded sensation of the whole arm at different voltages is shown; and Figure 21E A circuit board for sensory mapping detection is shown. DETAILED DESCRIPTION

[0039] The following description will be made with reference to the preferred embodiments of the present application. It should be understood by those skilled in the art that various modifications can be made without departing from the spirit and scope of the present application, including but not limited to additions and / or substitutions. Some specific details are not described here to avoid unnecessary interference with the core content of the present application. The purpose of the present disclosure is to enable those skilled in the art to understand and practice the technical solutions of the present application without excessive experiments.

[0040] Figure 1 ​A schematic diagram showing a self-powered passive haptics (SPETH) glove according to one embodiment of the present application. The SPETH glove has: a plurality of fabric-based triboelectric nanogenerators (TENGs) 110 positioned on the glove fingers and / or palm of a user and configured to collect electrostatic energy via physical contact; a plurality of power management circuits 120 electrically connected to the plurality of TENGs, respectively, and configured to convert the electrostatic energy collected by the plurality of TENGs into electrical excitatory signals; and a plurality of pairs of skin stimulating electrodes 130 electrically connected to the plurality of power management circuits 120, respectively, and configured to deliver the electrical excitatory signals from the plurality of power management circuits 120 to the skin of a user.

[0041] Figure 2A The operating mechanism of the SPETH glove is shown. During routine physical activities, the human brain initiates motor commands, resulting in muscle contractions and consequent finger movements. Subsequently, the SPETH glove worn on the hand collects electrostatic energy via physical contact with objects, storing this collected energy in the power management circuit. Once the energy accumulates to a critical threshold, a breakdown discharge occurs within the management circuit. This discharge process directs the discharge current into the skin via the carefully positioned electrodes, then stimulates the sensory receptors in the skin and triggers the firing of nerves. Thereafter, this firing propagates via peripheral nerves and eventually reaches the brain, where it is absorbed as tactile feedback, completing the sensory loop in a coherent and responsive manner. Furthermore, the triggering of movements can be given not only by human motions, but also by various mechanical motions from robotic hands, prosthetics, etc. This interaction effectively bridges between humans and various mechanical interfaces, establishing a self-powered bidirectional sensing and feedback system between them. Its prospective utility can be widely applied in multiple fields, including electrostimulation therapy, advanced prosthetic feedback systems, and cutting-edge augmented reality (AR) experiences, as shown. Figure 2B

[0042] Each TENG 110 is characterized as comprising three layers: a first triboelectric electrode layer embroidered with conductive threads; a second triboelectric electrode layer embroidered with conductive threads; and a dielectric film sandwiched between and electrically connecting the first and second triboelectric electrode layers, and configured to collect electrostatic energy via physical contact.

[0043] The conductive threads can be made of any suitable type of conductive material, such as but not limited to silver or copper. The dielectric film can be made of any suitable type of conductive material, such as but not limited to a fluorinated ethylene propylene (FEP), a polytetrafluoroethylene (PTFE) film, or a polyvinylidene fluoride (PVDF) film.

[0044] Figure 3 ​An architecture of a TENG 110 according to one embodiment of the present application is shown. As shown, the top electrode (first triboelectric electrode) 301 is made by embedding conductive silver threads in a fabric in a cross-stitch manner, while the bottom electrode (second triboelectric electrode) 302 requires conductive silver threads attached to a FEP film (dielectric film) 303 on the fabric. Figure 4 The working principle of triboelectric and electrostatic induction is shown. An alternating high voltage output is generated during the compression and release of the glove.

[0045] It is worth noting that the present application uses a technique that seamlessly embeds silver threads into fabric materials, thereby effectively combining traditional embroidery techniques with modern electronic functionality. This technique not only simplifies the manufacturing process and enhances aesthetics, but also improves the overall efficiency and reliability of the TENG unit.

[0046] The advantages of using embroidery techniques allow for the creation of intricate and precise patterns, and enable flexibility and lightweight characteristics suitable for wearable devices. The resulting fabric-based triboelectric unit exhibits excellent triboelectric performance, making it an ideal choice for self-powered wearable electronic devices and sensor applications.

[0047] Figure 5A A flowchart depicting the manufacturing process of a TENG is shown. The manufacturing process includes: 1) pattern design; 2) computer drawing; 3) embroidery processing; and 4) sewing molding. Figure 5B An enlarged image of an embroidered portion with a specific conductive pattern is shown, embroidered by an automatic embroidery machine.

[0048] Figure 6 A schematic diagram of the plurality of power management circuits 120 for efficient energy management and ensuring device safety is shown. Each power management circuit 120 includes an energy storage capacitor (not shown) configured to store energy collected by the fabric-based triboelectric unit 111, and a gas discharge tube (GDT) configured to trigger a discharge current when the voltage of the capacitor reaches a breakdown threshold.

[0049] Preferably, the energy storage capacitor has a capacitance in the range of 0.1 nF - 10 nF, and the GDT has an activation threshold in the range of 70 V - 250 V, to achieve efficient, safe, and comfortable haptic perception.

[0050] Figure 7The working mechanism of GDT is demonstrated. When the voltage within the capacitor exceeds the activation threshold of GDT, an avalanche breakdown discharge occurs within the GDT. This discharge process begins with the initial ionization of encapsulated gas molecules triggered by a strong electric field. Each collision can cause additional ionization, resulting in a rapid increase in the number of free charge carriers (ions and electrons). These successive ionizations create an avalanche effect, leading to the formation of a conductive channel across the gas, thereby generating a signature pulse current capable of delivering a clear stimulus.

[0051] Finally, as shown in FIG. 1 1, a semi-circular stimulation electrode 130 is used for tactile feedback. Preferably, a conductive hydrogel layer 140 is covered between the electrode and the skin, with a thickness within 1 to 2 mm, to enhance the contact with the skin and reduce the impedance. The conductive hydrogel layer can be made of any suitable type of hydrogel material, such as but not limited to PAAM ion conductive hydrogel, polyethylene glycol (PEG) hydrogel, polyvinyl alcohol (PVA) hydrogel, and gelatin hydrogel. Figure 8

[0052] In one embodiment, a manufacturing process of PAAM ion conductive hydrogel is provided. Initially, 8M LiCl solution, 2M acrylamide (AAm), and PAAm (PAAm: AAm weight ratio of 0.142) are dissolved in deionized water at 60°C for 3 hours. Then, a crosslinker N,N'-methylenebisacrylamide (MBAA) is added at a concentration of 0.6 wt% of AAm, and a photoinitiator Irgacure 1173 is added at a concentration of 1.6 wt% of AAm. The mixture is stirred overnight. Thereafter, the gel is poured into a mold and exposed to ultraviolet light for 30 minutes to ensure complete crosslinking of the hydrogel. Finally, the resulting hydrogel (with a thickness of 2 mm) is carefully attached to the electrode for the purpose of electrical stimulation.

[0053] Figure 9 The underlying principles behind the generation of tactile perception are demonstrated, ensuring a direct and intuitive interaction between the SPETH glove and its user. Furthermore, these components work in synergy to form a self-sufficient system that not only simulates tactile sensations but also operates in a self-powered passive manner, without the need for external batteries or connecting cables. Specifically, when the SPETH glove applies an electric current to a local skin area, the adjacent mechanoreceptor axons are activated, inducing action potentials along the existing neural pathways. These neural signals are then conducted to the somatosensory cortex and decoded by the brain as tactile sensations. In essence, these integrated features collectively construct an innovative tactile feedback simulation solution with an environmental consciousness. As the device operates in a passive manner, the dependence on external energy is completely eliminated, marking a significant advancement in tactile technology.

[0054] Figure 10 ​A full optical image of the SPETH glove prototype made on fabric by embroidery technique is depicted. Figure 11A A magnified view of an electro-stimulation patch made of a flexible printed circuit board (FPCB) and multiple pairs of stimulation electrodes deposited on the FPCB is shown. Figure 11B An exemplary configuration of stimulation electrodes is shown.

[0055] In one embodiment, the discharge current initiated by the SPETH glove can also be applied in a self-powered electro-stimulation therapy. Figure 12 An electromyography (EMG) sensing system implemented with the SPETH glove is depicted. Figure 13 Different EMG signals are measured with different capacitances. In addition, Figure 14 The discharge frequency of the electro-stimulation in the SPETH glove is shown to correspond to changes in grip strength at a frequency of 1 Hz, demonstrating the utility and range of applicability of the electro-stimulation therapy.

[0056] Performance demonstration and evaluation

[0057] As Figure 15 shown, the SPETH electro-tactile feedback glove contains six groups of TENG modules distributed on the finger and palm sites, and is worn on the hand for demonstration of limb sensory feedback. When the hand contacts a predetermined target, an electro-stimulation signal is generated as a tactile feedback to the user's arm. Subsequently, the discharge current triggered by the GDT transmits the target stimulation, thereby achieving precise sensory perception and feedback.

[0058] To more intuitively demonstrate the generated current signal, LED indicator lights are used in the demonstration to mark the positions of each electrode. In addition, during different finger movements, including actions such as pinching the thumb and index finger and sequentially opening and closing the four fingers, various electro-stimulation signal patterns are tested. Figure 16 The pulse current graph shown demonstrates the functional performance of the glove in basic action feedback. Figure 17 A confusion matrix is presented for the resulting stimulation of different hand regions, with three subjects successfully identifying the corresponding stimulated glove sites, verifying the accuracy of the glove in terms of spatial resolution.

[0059] Figures 18A to 18C The potential application of the self-powered passive tactile feedback glove in prosthetics is shown. As Figure 18A shown, the SPETH glove is worn on a mechanical arm, with its electrodes on the subject's right arm to deliver touch feedback. By detecting the stimulation signal of the arm, the wearer can use the left hand to control the glove to initiate a grasping command, enabling the mechanical arm to autonomously grasp an object. This demonstration presents how the SPETH glove enhances the sensory perception of patients who have experienced amputation or tactile degradation.

[0060] Figure 18B and Figure 18C respectively depict the application demonstration of the passive haptic feedback system in a "black box" environment. Referring to Figure 18B , the robot arm first scans the inside of the box for protruding objects (image I), when it touches the high cup (image II), it triggers the electrical stimulation on the subject's arm, thus informing it that object contact has occurred. Subsequently, the subject raises the arm to signal the object perception (image III), and further issues the grasping command (image IV), thus completing a complete perception-feedback cycle. Referring to Figure 18C , the robot arm initially scans the upper layer area and does not detect any objects (image I), then continues to probe the lower layer area and finds an orange (image II), triggering the electrical stimulation feedback to the subject's arm. After receiving the stimulation, the subject signals the object perception (image III), and issues the grasping command (image IV), completing the perception-feedback process of this round.

[0061] In order to evaluate the output performance of the triboelectric units in the SPETH glove, a square TENG with the same design and size of 1.5 cm x 1.5 cm was used for the experiment. Referring to Figure 19A and Figure 19B It can be observed from the experimental data that the output voltage and charge amount both increase with the increase of the applied pressure. However, as the pressure continues to increase, the growth rate gradually decreases and eventually tends to be saturated. Under the condition of applying a pressure of 40 N, the TENG can achieve a voltage output of about 600 V and a charge output of 20 nC.

[0062] As shown in Figure 19C , the charging curve of the TENG for different capacitors further verifies the excellent output performance of the SPETH glove. The experimental results show that it only takes about 60 seconds to charge a 100 nF capacitor to 200 V; for devices with smaller capacitance, the charging time can be shorter, further highlighting its fast energy conversion capability.

[0063] GDT is a complex structure device with customized configuration and controlled inert gas volume, designed to trigger breakdown discharge at a significantly reduced voltage threshold. By introducing GDT, the invention effectively solves the problem of uncontrolled breakdown discharge that may be caused by the high voltage of up to several thousand volts in traditional TENG.

[0064] Therefore, the wearable device based on the invention can generate pulsed current at a lower voltage level, achieving optimal functional performance. Figure 19D The voltage-time curve of GDT under different voltage breakdown thresholds is shown, where the highlighted star symbol indicates the gas breakdown position. When the GDT reaches its breakdown voltage (V b) the channel opens to conduct current. As the capacitor voltage gradually decreases, the GDT eventually falls to its extinguishing voltage (V e ), which closes the channel to interrupt the current. Subsequently, the capacitor begins to recharge until the next strike event is triggered, enabling the cyclic output of pulsed current.

[0065] Notably, the initial charging process begins from zero voltage and thus takes a long time, while subsequent charges do not start from a fully discharged state, and thus the storage capacitor can reach the strike threshold voltage more quickly, significantly enhancing the efficiency of the overall process. For example, Figure 19E Skin discharge current and charge curves using a GDT are shown. In the experimental configuration, a GDT with a strike voltage of 120 V and a storage capacitor with a rated capacity of 10 nF were used. However, the experimental results show that only 120 nC of charge was released, which is much lower than the total 1200 nC storage capacity of the capacitor. This deviation occurs because the charge stored in the capacitor is not fully discharged during the discharge period, thus lowering the threshold for subsequent electrical strikes, prompting the GDT to re-trigger.

[0066] Figure 19F A circuit diagram is presented for how to use a TENG to induce strike discharge in a GDT to evaluate the discharge performance of the GDT. In this circuit, the alternating current generated by the TENG is rectified into direct current, which is then stored in a capacitor C. The setup involves a series connection of the GDT and a resistor R2, followed by a parallel connection with the capacitor. Here, R2 represents the skin resistance, while Rl with an approximate resistance of 3.9 kQ is significantly lower than the internal resistance of 100 MQ of the oscilloscope, thus acting as a secondary resistor for monitoring the discharge current. Upon reaching the strike threshold voltage across the GDT, the discharge current immediately flows through R2 and Rl, effectively stimulating the skin.

[0067] Throughout the system, the size of the capacitor C, the equivalent impedance of the skin, and the threshold of the gas discharge tube significantly affect the actual current. As shown in Figures 19G to 19H , the main influencing factors such as skin impedance, capacitance, and discharge threshold are studied based on this circuit. Among them, Figure 19G The effect of equivalent skin impedance is shown at a fixed capacitance of 10 nF and a strike voltage of 150 V. In Figure 19H , the effect of capacitance C is explored at a constant resistance of 50 kQ and a strike voltage of 150 V. Figure 19I The effect of strike voltage is explored at a fixed capacitance of 47 nF and a resistance of 50 kQ. The observed data trend is consistent with Ohm's law, indicating that a decrease in skin impedance leads to an increase in discharge current. The duration of the discharge current is directly affected by the capacitance, and increasing the strike threshold generally results in a higher discharge current under static conditions.

[0068] To evaluate the impact of various circuit design parameters on haptic perception, a haptics test system was set up as shown in Figure 20A Fig. 1 integrated with human skin. In this test system, the current generated by the TENG is rectified into direct current and stored in capacitor C1. A Zener diode is connected in parallel with C1 to prevent overvoltage accumulation. Subsequently, capacitor C2 is connected in series with a 100 kQ resistor and then in parallel with C1 to enable continuous charging of C2 from C1. At the end of the circuit, C2 is connected to both the skin and the GDT. Upon reaching the breakdown voltage threshold of the GDT, the current then passes through the GDT to the skin, generating a perceivable haptic feedback.

[0069] The key factors affecting the intensity of haptic perception in this test system include the capacitance of C2, the breakdown threshold of the GDT, and the size and placement of the electrodes on the skin. To analyse how changes in capacitance and breakdown threshold affect the electrohaptic sensation on a human arm, a pilot test involving 20 subjects (10 males and 10 females) was conducted. Figure 20B The test results for male subjects are depicted in Figure 20C The test results for female subjects are depicted in Fig. 2. In the test, the sensation was classified into five categories: none, weak, comfortable, slightly uncomfortable, and uncomfortable. The subjects selected the category that best reflected their experience without knowing the experimental conditions. The data show that increasing the capacitance or breakdown threshold can significantly improve the haptic sensation.

[0070] Furthermore, Figure 20D Comfort perception data based on gender differences are presented, showing that the capacitance required by females significantly reduces from between 20 nF and 100 nF to less than 1 nF when the breakdown voltage increases from 70 V to 250 V. For males, the capacitance reduces from above 40 nF to a range of 1 nF to 4 nF under comparable conditions, which can be due to physiological differences such as skin resistance and dermal thickness.

[0071] Figure 20E The actual voltage drop (V drop ) under different capacitances and breakdown thresholds is demonstrated in Fig. 3, which can be expressed in Equation 1 as: V drop = V b -V e (1)

[0072] which shows that an increase in capacitance results in a gradual decrease in voltage drop, indicating that the actual charge passing through does not increase linearly with capacitance at a fixed breakdown threshold. Therefore, a high capacitance paired with a low breakdown threshold only provides a gentle haptic sensation due to the minimum charge transmission through the skin. Further analysis focuses on how the single discharge energy affects haptic perception. The transmission energy W through the skin can be approximated in Equation 2 as:

[0073] Subsequently, calculations are performed to evaluate the injection into Figure 20F and Figure 20G The energy of the skin of male and female subjects within the graded zones depicted in the text. Figure 20F and 20G The results show that the energy range extends by three orders of magnitude, from 10 3 nanojoules to 10 6 Nanojoules represent the transition from no sensation to discomfort. Within this range, men typically require approximately 30 microjoules of energy to elicit a moderate sensation, while women typically require only about 10 microjoules.

[0074] Furthermore, regarding sensitivity to discomfort, men typically experience discomfort when a single discharge delivers more than 1000 microjoules to the skin. In contrast, women experience discomfort at discharge energies as low as 500 microjoules. This indicates significant differences in sensory thresholds between sexes and between individuals.

[0075] In addition, from Figure 20F and Figure 20G The median values ​​are derived separately. Figure 20H and Figure 20I The contour maps in the diagram correspond to the distribution of sensory levels, emphasizing that the effectiveness of tactile stimulation depends primarily on the amount of energy input. It is noteworthy that, within this framework, in practical operation, the energy required for an individual to generate tactile perception can be kept in the microjoule range through the output of a single TENG energy cycle, thus ensuring the system's continuous and efficient functionality.

[0076] Besides the parameters of the management circuit, the size of the electrodes in contact with human skin also plays a crucial role in determining the intensity of the perceived stimulus. To investigate this influencing factor, Figure 21A The minimum capacitance required to produce a faint tactile sensation across various electrode spacings and breakdown voltage levels is shown.

[0077] Widely spaced electrodes typically result in higher skin impedance, thus reducing tactile response. Therefore, the electrode spacing in this invention is minimized to maximize stimulation efficacy.

[0078] In addition, the combined effects of age and electrode location on sensation were examined, and the variation of stimulus sensitivity with age was investigated. For the study of comfort thresholds across different age groups, three men and three women from each age group (20-30, 30-35, and over 35) were recruited.

[0079] like Figure 21B and Figure 21CAs shown, by adjusting the breakdown threshold voltage of the GDT, the capacitance C2 required to achieve a comfortable sensation was evaluated across different age groups. The results indicate that younger groups exhibited more pronounced tactile sensation to the electrical stimulation of the GDT, and they achieved a comfortable level with less energy release. This pattern can be attributed to the increase in skin impedance with age.

[0080] Finally, the influence of electrode position was also studied, among which... Figure 21D A sensitivity map of all stimulation sites on the subject's arm was presented. To explore tactile perception along the entire arm, 22 specific locations were identified and labeled to comprehensively map graded sensation. Figure 21E As shown, the circuit board for sensory mapping detection is designed such that 22 electrode points are strategically placed across the entire arm, as illustrated.

[0081] By controlling the breakdown voltage of the GDT and adjusting the capacitance of the storage capacitor, tactile sensation at different electrode locations in the same arm was investigated. The results showed that different sensations could be sensed at different locations with the same release energy. Specifically, thresholds were obtained for all 22 points from each subject, and these thresholds were used to generate distribution maps of different sensory levels and subjects via natural interpolation. The results revealed a significant increase in sensitivity along the outer side of the arm, revealing that stimulation intensity is typically amplified when the electrode is located near a blood vessel. Finally, it is worth noting that at a breakdown threshold of 90V, the increase in capacitance does not necessarily lead to intense discomfort, which may be attributed to the associated low voltage drop.

[0082] Throughout the experiment, participants were instructed to thoroughly clean their arms and remain relaxed before the test. The discharge voltage and capacitor parameters of the tactile system were then gradually adjusted until participants experienced a clear tactile sensation, with the stimulation intensity progressively increased. The specific values ​​of the electrical parameters were deliberately concealed from participants, who were asked to subjectively describe the intensity of their sensation using a pre-set five-level sensory scale (from "no sensation" to "discomfort"). All experimental tests and data collection were conducted with the informed consent of the participants.

[0083] The functional units and modules according to the embodiments disclosed herein can be implemented using computing devices, computer processors, or electronic circuit systems, including but not limited to application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontrollers, and other programmable logic devices configured or programmed according to the teachings of this disclosure. Based on the teachings of this disclosure, those skilled in the art of software or electronics can readily prepare computer instructions or software code to run in computing devices, computer processors, or programmable logic devices.

[0084] All or portions of the methods of the embodiments can be executed in one or more computing devices including server computers, personal computers, laptop computers, mobile computing devices such as smartphones and tablet computers.

[0085] Embodiments can include computer storage media having computer instructions or software code stored thereon, transitory and non-transitory memory devices, which can be used to program or configure a computing device, computer processor, or electronic circuitry to perform any of the processes of the present disclosure. The storage media, transitory and non-transitory memory devices can include, but are not limited to, floppy disks, optical disks, Blu-ray disks, DVDs, CD-ROMs, and magneto-optical disks, ROMs, RAMs, flash memory devices, or any type of media or device suitable for storing instructions, codes, and / or data.

[0086] Each of the functional units and modules according to various embodiments can also be implemented in a distributed computing environment and / or a cloud computing environment, where all or part of the machine instructions are executed by one or more processing devices that are in distributed fashion through a communication network, such as an intranet, a wide-area network (WAN), a local-area network (LAN), the Internet, and other forms of data transmission media.

[0087] While the disclosure has been described and illustrated with reference to specific embodiments thereof, these descriptions and illustrations are not limiting. The illustrations can not be drawn to scale. There can be departures from the artistic representations set forth in the drawings. Other embodiments of the disclosure can be utilized and structural and operational modifications can be made without departing from the scope of the present disclosure. All such modifications and variations are intended to be included herein within the scope of the disclosure. Although the methods disclosed herein have been described with reference to particular operations performed in a particular order, it will be understood that these operations can be combined, sub-divided, or re-ordered to form equivalent methods without departing from the teachings of the present disclosure. Accordingly, unless specifically indicated herein, the order and grouping of operations are not a limitation.

Claims

1. A self-powered passive electrotactile glove, characterized in that, include: Multiple fabric-based triboelectric nanogenerators are configured to harvest electrostatic energy via physical contact; Multiple power management circuits are electrically connected to the multiple fabric-based triboelectric nanogenerators and configured to convert the electrostatic energy collected by the multiple triboelectric nanogenerators into an electro-excitation signal. as well as Multiple pairs of skin stimulation electrodes are electrically connected to the multiple power management circuits and configured to transmit the electrostimulation signal from the multiple power management circuits to the user's skin.

2. The self-powered passive electrotactile glove according to claim 1, characterized in that, Each of the fabric-based triboelectric nanogenerators has a layered structure, the layered structure comprising: The first triboelectric electrode layer is embroidered with conductive thread; The second triboelectric electrode layer is embroidered with conductive threads; and A dielectric film sandwiched between the first and second triboelectric electrode layers.

3. The self-powered passive electrotactile glove according to claim 2, characterized in that, The dielectric film is a fluorinated ethylene propylene (FEP) film, a polytetrafluoroethylene (PTFE) film, or a polyvinylidene fluoride (PVDF) film.

4. The self-powered passive electrotactile glove according to claim 2, characterized in that, The conductive wire is a silver wire or a copper wire.

5. The self-powered passive electrotactile glove according to claim 1, characterized in that, The power management circuit includes: A capacitor configured to establish an electric field to store the collected energy; as well as A gas discharge tube is connected to the capacitor, and when the voltage of the capacitor reaches a breakdown threshold, the gas discharge tube is configured to facilitate the conduction of a discharge current that serves as the electro-excitation signal.

6. The self-powered passive electrotactile glove according to claim 1, characterized in that, Each of the fabric-based triboelectric nanogenerators is further configured to output the collected energy as alternating current; and Each of the power management circuits further includes a rectifier configured to rectify the corresponding alternating current into direct current.

7. The self-powered passive electrotactile glove according to claim 1, characterized in that, It further includes a skin stimulation patch comprising a flexible printed circuit board for accommodating the plurality of pairs of skin stimulation electrodes.

8. The self-powered passive electrotactile glove according to claim 1, characterized in that, Each pair of said skin stimulation electrodes includes: A first skin contact electrode connects a first output terminal of the power management circuit to a first contact point on the skin; as well as The second skin contact electrode connects the second output terminal of the power management circuit to the second contact point on the skin.

9. The self-powered passive electrotactile glove according to claim 8, characterized in that, Each of the first and second skin contact electrodes has a semi-circular shape.

10. The self-powered passive electrotactile glove according to claim 7, characterized in that, Each of the first and second skin contact electrodes is covered with a hydrogel membrane to enhance contact with the skin and reduce skin resistance.

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