222 results about "Haptic sensing" patented technology

The invention discloses a manipulator grabbing control system based on visual identification, and the system comprises a visual identification module which is used for collecting the three-dimensional form data and surface feature information of a target object, and eliminating the noise interference in an original image through preprocessing; the multi-modal fusion processor is used for receiving the three-dimensional form data and the surface feature information output by the visual recognition module, executing point cloud structured conversion on the three-dimensional form data, extracting geometric features of an object through a neural network, and meanwhile, performing weight distribution on the surface feature information by adopting a feature attention mechanism to complete multi-feature fusion processing; according to the multi-axis cooperative manipulator provided with the end executor, the end executor integrates a touch sensing assembly used for touch sensing and an adsorption execution device used for assisting grabbing. By integrating the technologies of visual identification, multi-modal fusion, intelligent optimization, dynamic feedback and the like, the sensing precision, the environmental adaptability and the grabbing reliability of the system to object characteristics are improved.

The invention discloses a robot system with tactile perception, and belongs to the technical field of tactile robots. The problem that an existing robot is poor in environment pressure sensing capacity is solved. Comprising a head module, an integrated vision-inertial navigation sensing module and a head controller, two side surfaces are provided with a pair of rotatable connecting ends, and the outer surface is provided with a tactile sensor; the head controller transmits data to the upper computer through the communication module; the driving body module comprises a plurality of modularized joints which are connected end to end, touch sensors are arranged on the two side faces of each modularized joint, and the adjacent modularized joints are orthogonally connected; the modularized joint is integrated with a joint controller and a joint steering engine; the tail module integrates a tail controller and a tail steering engine, and tactile sensors are arranged on the two side faces of the tail module. The tail controller carries out data transmission with the head controller through the adjacent previous joint controller in sequence, and the head controller receives a control instruction of the upper computer and carries out data transmission with all other controllers. According to the invention, the environmental pressure can be sensed in all directions.

The invention discloses a robot finger tactile perception method and system based on artificial intelligence, and the method comprises the following steps: S1, obtaining visual data and tactile perception initial parameters of a to-be-interacted object of a robot finger, carrying out the preprocessing of the visual data, and extracting the appearance features of the object, performing initial configuration on the touch sensing initial parameters; and S2, object recognition is conducted on the preprocessed visual data through a machine learning model, and the material category, morphological characteristics and surface attributes of an object are determined. According to the robot finger tactile perception method and system based on artificial intelligence, by combining a visual system and tactile sensor data and utilizing a convolutional neural network and Transform fusion architecture to extract local textures and global morphological features of an object, high-precision recognition of material categories, morphological features and surface attributes of the object is realized.

The embodiment of the invention provides a touch sensing system and method, electronic equipment, a storage medium and a program product. The touch sensing system comprises a contact assembly, a projection assembly, a collection assembly and a processing assembly, and is configured to be capable of being in contact with an external object and generating deformation; the projection assembly is configured to project an active light field with a time modulation characteristic to a first surface of the contact assembly, the active light field is projected on the first surface to form a plurality of pattern areas, the light intensity of adjacent pattern areas changes based on different time sequence codes, and the first surface is opposite to a second surface, making contact with an external object, of the contact assembly; the acquisition assembly comprises a plurality of acquisition units arranged in an array, and is configured to acquire a plurality of pattern areas and output a time stamp acquisition data sequence.

The invention discloses a multi-mode visual tactile sensor and a sensing method thereof. The sensor is composed of a sensing cover and an imaging box body, the sensing cover is fixed on the imaging box body, the sensing cover is provided with a flexible sensing layer, an embedded mark point array combining inert ink and thermochromic ink is arranged in the sensing layer, during tactile sensing, a light source is provided through the imaging box body, and multi-mode sensing data is obtained. Therefore, displacement tracking and temperature sensing are realized at the same time. According to the invention, multi-mode sensing of five modes of a two-dimensional texture pattern, a three-dimensional texture image, a three-dimensional displacement field, a three-dimensional force field and a two-dimensional temperature field can be realized under a single optical frame, real-time co-registration measurement can be realized, and a high-integration-level solution is provided for a robot touch system. The problems that an existing visual tactile sensor cannot sense multi-mode information synchronously, force field reconstruction calculation is complex, and temperature sensing capacity is lacked are solved, and the visual tactile sensor is suitable for application scenes such as robot tactile sensing, man-machine interaction, intelligent artificial limbs and industrial detection.

The utility model relates to the technical field of sensors, in particular to a visual touch sensor. According to the utility model, the colloid on the transparent plate is in contact with an object, the single-sided mirror is arranged opposite to the colloid on the opening, the camera component performs visual detection on the deformation condition of the colloid reflected by the single-sided mirror, and the effect of clamping different objects is achieved through the deformation of the colloid, so that the tactile perception capability of the visual tactile sensor is realized; the robot is simple in structure, low in cost and high in adaptability, and can be widely applied to the fields of object grabbing, flexible operation, touch perception in rehabilitation prostheses and the like; and meanwhile, the number of parts required by the visual tactile sensor is reduced, the working stability of the visual tactile sensor can be effectively improved, the failure rate is low, and the reliability is relatively high.

The invention provides an industrial robot self-adaptive grabbing method based on multi-modal sensing, which comprises the following steps of: 1, acquiring multi-modal data of an object and an environment through a multi-modal sensing module; the multi-mode sensing module comprises at least two sensing modules of a visual sensing unit, a touch sensing unit, a force sensing unit and an auditory sensing unit; 2, preprocessing and feature extraction are carried out on the multi-modal data, feature information of different modals is fused through a multi-modal fusion algorithm, and comprehensive object description information is generated; 3, generating an optimal grabbing strategy based on the comprehensive object description information; wherein the grabbing strategy comprises the position and posture of a grabbing point, a grabbing path and grabbing force; and fourthly, the industrial robot executes the optimal grabbing strategy, the first step to the third step are repeated, and the grabbing strategy is adjusted in a self-adaptive mode till grabbing is completed. Stable and efficient grabbing can be achieved.

The invention discloses a paper folding structure inductance type self-decoupling miniature six-dimensional force sensor, which belongs to the technical field of force sensors and comprises a base, a folding flexible circuit board, a metal shell, a communication cable, a coil inductance measuring circuit and an elastic body. The folding flexible circuit board comprises a coil array and an inductance measuring circuit, the coil array is folded on the upper surface and the four side faces of the base, the inductance measuring circuit is folded at the bottom of the base, and a communication cable is led out of the inductance measuring circuit. The metal shell is arranged above the base and surrounds the surface, except the bottom surface, of the folding flexible circuit board; an elastic body is arranged between the metal shell and the base. The elastomer converts six-dimensional force borne by the metal shell into six-dimensional displacement. According to the sensor, the characteristic that the eddy current effect is sensitive to normal displacement and insensitive to tangential displacement and rotation is utilized, self-decoupling measurement of six-dimensional displacement of the metal shell is achieved in combination with three-dimensional coil layout, and therefore self-decoupling six-dimensional force measurement is achieved, and the sensor can be integrated to the fingertip of the dexterous hand to provide endogenous tactile perception.

An embodiment of the utility model discloses a visual tactile sensor, which relates to the technical field of sensors and comprises a base, a flexible plate, an image acquisition device and a plane mirror. The flexible plate is arranged on the base, the image acquisition device is arranged on the base, the image acquisition device is located on one side of the flexible plate, and the plane mirror is obliquely arranged on the upper side of the flexible plate. The layout between the flexible plate and the image acquisition device can be changed through the plane mirror, the size of the visual tactile sensor in the height direction is greatly reduced, and the size of the visual tactile sensor is reduced. According to the scheme, through the innovative structural design of reflection imaging of the plane mirror, on the premise that the tactile perception precision is ensured, the problem that the size of a traditional visual tactile sensor is too large due to vertical imaging layout is solved, meanwhile, multiple technical requirements of environmental adaptability, cost controllability and the like are taken into consideration, and the visual tactile sensor is suitable for popularization and application. And better hardware support is provided for scenes such as refined operation and man-machine interaction of the robot.

The invention discloses a vision-based high-density three-dimensional force sensing array system and a three-dimensional force distribution identification method thereof. The system comprises a first force sensing layer, a second force sensing layer, a support force bearing layer, an LED lighting unit, a light-transmitting reference plate, a camera and a supporting shell box body. The second force sensing layer is a high-density array formed by independently distributed cylinder and hemisphere elastic structure units; and the light-transmitting reference plate, the LED lighting unit and the camera form an optical imaging assembly. When an external object is in contact with the surface of the array, each structural unit deforms independently, a camera captures a deformation image, features are extracted through an image processing algorithm, and three-dimensional force distribution of a contact area is solved according to a pre-calibrated image-mechanics mapping model. The system can reconstruct the three-dimensional contour form of a contact object in real time and perceive the force distribution characteristics of the contact object, and a high-precision and low-cost force touch perception solution is provided for the fields of robot touch recognition, human-computer interaction, safety monitoring and the like.

The utility model relates to the technical field of tactile sensing, in particular to a three-dimensional array type magnetic tactile sensor. The three-dimensional array type magnetic tactile sensor comprises a flexible circuit board layer, an elastic layer and a flexible magnet layer which are sequentially stacked and bonded from bottom to top, when the flexible magnet layer deforms due to external pressure, the surrounding magnetic field intensity is changed, and the flexible circuit board layer measures external force by sensing the magnetic field change of the flexible magnet layer. The elastic layer is used for expanding the external force measurement range of the flexible circuit board layer. The flexible magnet layer comprises a top-layer flexible body and a plurality of flexible magnets embedded in the top-layer flexible body, and the flexible magnets are used as contacts. The device simulates hand touch perception, has a wide force measurement range, can accurately detect tiny force change, and improves sensitivity.

A method of providing remote haptic feedback is described. The method includes applying, via a set of electrodes of a wearable device, a haptic signal to a first portion of a user. The haptic signal is configured to cause haptic feedback to be perceived at a second portion of the user that is distinct from the first portion of the user. The method further includes causing a visual indication of the haptic feedback at the second portion to be displayed to the user via a display of a head-wearable device.

The invention relates to the technical field of tactile interaction, in particular to a virtual material interaction system with tactile feedback, which comprises a contact state sensing module, a potential gradient calculation module, a friction dynamic regulation and control module, a tactile feedback generation module and an interaction state monitoring module. According to the invention, dynamic mapping of contact pressure, sliding speed and node potential is realized through multi-source signal fusion, so that touch perception keeps continuous response in time sequence, potential difference calculation forms an electric field regulation basis for microscopic change of a material, and space-level adjustment of a surface friction coefficient is realized through charge redistribution and polarization direction switching. The tactile feedback changes adaptively according to material features, the friction spectrum is recombined into a multi-frequency-domain tactile signal after Fourier decomposition, texture, hardness and damping features of different materials are presented in a layered mode, the tactile feedback has more dynamic details and direction consistency, the sense of reality and the tactile recognition degree of virtual materials are improved, and the sense of reality and the sense of touch recognition degree of the virtual materials are improved. And stable and natural interaction touch in the virtual environment is ensured.

The invention discloses a terrain classification and self-adaptive gait switching method for a sea-turtle-imitating amphibious robot based on visual tactile perception. The method comprises the following steps: establishing a robot model carrying a pressure sensor and a waterproof camera; the method comprises the following steps: acquiring tactile time sequence data and visual images in various terrains such as broken stones and sand beaches, and constructing a training data set; establishing a multi-modal convolutional neural network, and fusing features through dual-channel feature extraction and an adaptive attention mechanism; motion energy consumption and speed under each terrain are collected, and the optimal gait is determined; and constructing a gait switching finite-state machine in combination with terrain physical attribute classification and the optimal gait. According to the method, a sensing-decision-driving closed loop is formed, the terrain is sensed through visual touch, the gait is decided through a finite-state machine, the gait driving motion is executed, and through experimental verification, the self-adaptive gait can improve the moving efficiency and speed, and the amphibious environment adaptability of the robot is enhanced.

The application designs a tactile fingertip with fingerprint microstructure and a tactile information sensing method, the overall structure simulates the shape, structure and functional characteristics of the fingertip of human fingers, adopts a hybrid structure of flexible skin layer-tactile sensing layer-rigid phalanx, and four groups of sensitive elements are embedded in the flexible skin, each group contains two sensitive elements for sensing dynamic signals and static signals, and is located at different skin layer depths. The surface of the finger pulp is designed with raised fingerprint microstructure, which can further enhance the tactile sensing ability. According to the different contact areas, the fingertip can realize surface attribute recognition, and the finger pulp can realize clamping and contact state sensing. The structure of the application is simple, the process is simple, and the cost is low, and various functions such as contact state sensing, object surface recognition and shape distinction can be realized, which helps the robot to realize accurate force feedback control. Further, the application can be installed on various mechanical clamps to give them tactile sensing ability.

The invention belongs to the technical field of tactile communication and intelligent man-machine interaction, and discloses a multi-point tactile intelligent encoding and decoding device, system and method, and the method comprises the steps: obtaining an original tactile signal through an acquisition end, and extracting features through a neural network auto-encoder; a weighted fusion module based on an attention mechanism combines channel state information (CSI) to carry out dynamic grouping residual quantization on coding features, and low-code-rate compression transmission is realized; the sensing end inversely quantizes received data and reconstructs a signal, and outputs a tactile signal in combination with a multi-scale sensing calibration mechanism in an optimized manner, so that the tactile signal is closer to original input in a human body sensing dimension; the multi-point tactile feedback device obtains vibration feedback corresponding to the real-time multi-channel vibration tactile signal based on the reconstructed signal. By fusing the deep learning architecture and the psychological tactile perception model, efficient compression, low-delay transmission and high-quality reconstruction of tactile signals are achieved, and the method is suitable for high-precision tactile interaction scenes such as virtual reality, remote operation and medical robots.

The invention discloses a snail-imitating soft robot self-driven system with a touch sensing function. The snail-imitating soft robot self-driven system is composed of an air pump, a touch sensor, a microprocessor, a connecting structure and a driver. The snail-imitating soft robot is connected with the driver in the body and the air pump in the spiral shell through air pipes and is sequentially connected with the microprocessor, the antennas and the driver through wires. The compressed air source is used for providing power for the snail-imitating soft-bodied robot, the deformation recovery capacity of the snail-imitating soft-bodied robot is combined, and the control system with the triboelectric film and the driver as the core is utilized, so that the continuous and self-driven motion mode of the snail-imitating robot is achieved. Aiming at the defects of lack of self-driving and continuous motion capability, complex driving structure, high power consumption and the like of a traditional driving mode, the invention provides the snail-imitating soft robot self-driving system with the advantages of low energy consumption, high adaptability and continuous self-driving, and the snail-imitating soft robot self-driving system has wide prospects in the fields of long-distance transportation, slope crawling, basic obstacle processing and the like.

The invention relates to the field of medical instruments, in particular to an intelligent upper limb prosthesis sensing system with a tactile representation function. The touch sensing module is used for collecting touch information when the artificial limb is in contact with an external object; the signal processing module is electrically connected with the tactile sensing module and is used for converting the tactile information into recognizable tactile feature data; the feedback control module is connected with the signal processing module and is used for generating a corresponding feedback control signal according to the tactile feature data in combination with a preset tactile feedback strategy; and the feedback execution module is connected with the feedback control module and is used for executing corresponding actions according to the feedback control signal and providing tactile feedback for the residual limb part of the patient. Tactile information (direct tactile information and indirect tactile information) is collected through the tactile sensing module, so that the perception of a patient when the patient touches an external object through the artificial limb is improved.

This invention provides an adaptive control method and system for continuum robots based on global tactile perception, relating to the field of continuum robots. By using a conformally attached flexible array pressure sensor, it directly measures the contact force across the entire robot body, overcoming the perception blind zone problem of existing end-effector force sensors. It also avoids the high cost and increased stiffness issues of fiber optic grating solutions, achieving low-cost, highly flexible global force perception. The heterogeneous modulus structure design effectively solves the problem of measurement inaccuracies by flexible sensors under large deformation environments. The adaptive admittance control strategy enables the robot to dynamically adjust its compliance characteristics based on real-time tactile information, significantly improving operational safety in sensitive environments (such as surgery). The sensor scheme and control framework have good universality and can be applied to continuum robot platforms with different structures.

The invention relates to the technical field of touch control, and discloses a touch control vibration feedback method, a vibration feedback system, computer equipment and a storage medium, detected touch control pressure is mapped to different preset pressure intervals in real time, and vibration feedback waveforms designed in a differentiated manner according to the output intensity, the frequency and even the duration time are correspondingly output. According to the technical scheme, the vibration prompt accurately matched with the force can be obtained through each touch, the touch sensing precision of a user on the change of the touch operation force is remarkably improved, the interaction level is enriched, the operation confirmation feeling is enhanced, and finally the immersion degree and efficiency of man-machine interaction are greatly improved.

Embodiments of the present disclosure provide a tactile perception system and method, an electronic device, a storage medium, and a program product. The tactile perception system comprises a contact component, a projection component, a collection component, and a processing component, which are configured to be capable of contacting an external object and producing deformation; the projection component is configured to project an active light field with time modulation characteristics to a first surface of the contact component, the active light field forms a plurality of pattern regions on the first surface, the light intensity of adjacent pattern regions varies based on different time sequence encoding, and the first surface faces away from a second surface of the contact component which contacts the external object; the collection component comprises a plurality of collection units arranged in an array, and is configured to collect the plurality of pattern regions and output a time-labeled collection data sequence.

The application discloses a kind of haptic temperature synergic sensor comprising flexible substrate material and preparation method thereof.Sensor includes flexible substrate, arrayed haptic sensing unit and multilayer heterostructure temperature-sensitive layer, multilayer heterostructure temperature-sensitive layer is alternately stacked by pressure-sensitive material layer, thermosensitive material layer and conductive material layer and so on Heterogeneous materials can realize the synergic perception of temperature and pressure.By reasonably designing the material properties and interface structure of each layer, the response performance of the sensor to multiple physical quantities is improved.

The utility model relates to a pneumatic type soft manipulator with a touch sensing function, which belongs to the technical field of robots and comprises a mounting seat, a mounting frame and a frame, a flexible sleeve is sleeved on the outer side of the frame, a flexible touch sensing element is arranged on the outer side of the flexible sleeve, and an adjusting component is arranged in the frame. The adjusting assembly comprises an adjusting rod, one end of the adjusting rod is fixedly connected with a rotary knob, the other end of the adjusting rod is fixedly connected with a driving gear, the outer side of the driving gear is meshed with a driven gear, the inner side of the driven gear is fixedly connected with a connecting shaft, and the upper end of the connecting shaft is fixedly connected with a lead screw; the outer side of the lead screw is in threaded connection with a threaded sleeve, and the threaded sleeve is connected with a flexible touch sensing element. According to the pneumatic type soft manipulator with the tactile sensing function, the position of the flexible tactile sensing element is adjusted, the application range is widened, and practicability is high.

The present invention discloses a multimodal bionic tactile perception method and system based on a bionic tactile finger. The method comprises: obtaining a charge signal generated by the bionic tactile finger, preprocessing the charge signal to obtain a piezoelectric digital signal; obtaining an image sequence captured by the bionic tactile finger, performing signal processing on the image sequence to obtain a visual tactile signal; fusing the piezoelectric digital signal and the visual tactile signal to obtain a spatiotemporal tactile signal, and performing surface three-dimensional reconstruction and spectrum analysis on the spatiotemporal tactile signal to obtain multimodal tactile information. Based on the bionic characteristics of the finger, the present invention integrates piezoelectric sensors and visual tactile sensors to design a bionic tactile finger. Data fusion is performed in the temporal and spatial dimensions to achieve multimodal tactile perception capabilities. Through structural and functional bionics, the robot's tactile sense acquires the ability to recognize and locate different vibration stimuli in different time and space.

The invention belongs to the technical field of seeding robots, and particularly relates to a visual multi-perception active control obstacle-avoiding seeding robot and a working method thereof.In the seeding process, a walking mechanism drives a bearing plate to move forwards, seeding furrows are formed through a furrowing mechanism, film mulching is conducted through an unwinding mechanism, and a mulching film is tightly attached to the ground through a film pressing mechanism; the mulching film is covered with soil through the soil covering mechanism, so that the mulching film is fixed, and sowing is conducted through the hole sowing mechanism; in the process, the visual recognition mechanism conducts image collection and target recognition on the front field environment and transmits information to the control mechanism, the touch sensing mechanism detects close-range obstacle information in real time and feeds back the close-range obstacle information to the control mechanism, and when a ridge or an obstacle is recognized, the control mechanism adjusts the height of the bearing plate through the lifting rod to achieve obstacle avoidance. Damage of ditching cutters and the like or damage of ridge structures is prevented, and operation safety and automation level in complex field environments with obstacles such as stones such as orchards and gobi are improved.

The display device provided by the present disclosure adopts a first isolation structure to isolate the touch module and the module frame, so that a certain distance is maintained between the touch module and the module frame, and a second isolation structure is adopted to isolate the display module and the touch module, and a certain distance is maintained between the display module and the touch module, so that high-frequency noise and heat generated by friction between the touch module and the display module and the module frame are avoided, and the user experience is affected. Moreover, the first isolation structure and the second isolation structure do not completely fix the touch module, so that the vibration of the touch module during the operation of the tactile sensor is not greatly inhibited, that is, the intensity of the tactile perception can be effectively ensured without reducing the vibration amplitude of the touch module.

The invention relates to the technical field of robot grabbing and sensing, in particular to a dexterous hand / clamping jaw integrated module and a method for grabbing an object through the dexterous hand / clamping jaw integrated module. An existing robot dexterous hand / clamping jaw depends on external vision and touch perception, a system is complex, a view blind area exists, adaptability is poor, and cost is high. The integrated module is arranged at the fingertip of the dexterous hand or the claw tip of the clamping claw and comprises an elastic body, a cover plate and a module base which are sequentially attached to one another from front to back, the elastic body is provided with a through hole, a forward depth camera module is arranged on the front face of the module base, and the elastic body is provided with a through hole. A window hole matched with the depth camera module is formed in the cover plate, when an object is grabbed, the front face, back to the cover plate, of the elastic body makes contact with the object, and the forward depth camera module forwards obtains image and depth information through the window hole and the through hole. The integrated module simultaneously has visual positioning and force perception, does not need to depend on an external sensor, and is simplified in system, good in visual field and low in cost.

This invention discloses a visual-tactile fusion multimodal tactile sensor and a three-dimensional pressure field reconstruction method, relating to the technical field of tactile perception. The sensor includes a visual acquisition unit, a tactile acquisition unit, a gel component, a data processing unit, and a display and interaction unit, achieving dual-modal collaborative perception. The three-dimensional pressure field reconstruction method sequentially executes steps such as force system initialization, synchronous acquisition, image preprocessing, pressure calibration calculation, cross-modal registration, dynamic Gaussian convolution fusion, 2D-to-3D mapping, point cloud and mesh reconstruction, real-time display and interaction, data recording, and reset maintenance. It utilizes dynamic Gaussian convolution kernels to simulate pressure diffusion and generates a three-dimensional pressure field model based on the Open3D library. This invention reduces the cost of the gel component, and the reconstruction delay of the three-dimensional pressure field does not exceed 8 milliseconds, making it suitable for fields such as robot operation, intelligent prosthetics, and human-computer interaction.

The invention relates to a controller for driving an array of ultrasonic transducers capable of generating an acoustic field providing a tactile sensation at a distance, comprising: an input interface configured to receive a delay command (Cd) and a modulation command (Cm); for each ultrasonic transducer, a generator (7) of an actuation signal for the ultrasonic transducer, capable of being controlled by a control circuit (8) to deliver voltage pulses with a delay conforming to the delay command (Cd) and a modulation exploiting a modulating signal whose modulation frequency, which can take several values, is set by the modulation command (Cm); an output interface configured to provide the actuation signals to the ultrasonic transducers. Figure 4 (for the abstract)

The invention discloses a self-driven bionic vision-touch fusion sensor array and a preparation method thereof, and relates to the technical field of bionic intelligent perception, and the sensor array comprises a flexible substrate and at least one sensing unit. The flexible substrate comprises a first flexible substrate and a second flexible substrate which are oppositely arranged in a spaced mode through an elastic medium. The sensing unit is integrated with a photoelectric synapse transistor and a friction nano generator; the photoelectric synapse transistor comprises a photosensitive semiconductor layer, a source electrode, a drain electrode and a gate dielectric layer covering the photosensitive semiconductor layer, the source electrode and the drain electrode; a friction layer of the friction nanometer generator is arranged on the second flexible substrate and is opposite to the gate dielectric layer. And the gate dielectric layer is also used as a charge storage layer of the friction nano generator. Self-driven tactile perception is achieved through contact-separation of the friction layer and the gate dielectric layer, visual perception is achieved through light response of the photosensitive semiconductor, and synaptic signals with enhanced fusion are generated through the synergistic effect of the two kinds of stimulation on a single interface.