Study on the Model of Two-dimensional Spatiotemporal Robot Electrotactile Telepresence

Aiming at providing a current design method for electrotactile telepresence application in robot field,this paper first describes the principle of electrotactile,then establishes a model for the two-dimensional spatiotemporal electrotactile telepresence,and sets up the mathematical relationship between the tolerable fluctuating limits and the stimulus current.Analysis shows that the dynamic range of stimulus current is the key direction of electrotactile research,the ideal stimulus current should be the set of many small element-group's ideal current sets,and each element's current should be set separately in the worst case.