研究人员使用的实验装置。(A)研究一的实验装置包括一个由LabVIEW通过USB数据采集卡控制的机器人手指机械手。该装置被放置在参与者腹部的支撑结构上。受试者的右手放在一块木块上。参与者戴着头戴式显示器(图中未显示)。该机器人装置可以通过食指对拇指移动来进行主动或被动的捏捏动作。它由一个固定的拇指插座、一个连接在直线导轨上的可移动食指插座、一个通过电缆/滑轮传动驱动食指插座的电机、一个角度位置编码器和一个力传感器组成。(B)虚拟环境显示一个虚拟角色正在进行捏捏动作。同步(同步vs异步)和一致性(左手vs右手虚拟手移动)可以在计算机控制下进行操作。(C)主动试验(即受试者移动)和被动试验(即机器人移动)的位置和力痕迹示例。 (D) The experimental setup of Study II consisted of an MR-compatible robot controlled with LabVIEW. The output of the device is attached to the scanner bed with an adjustable mount. The forearm of the subject rests on foam pads. The participant wears MR-compatible goggles (not shown). The robotic device is equipped with a fiber-optic force sensor and an electro-optical encoder, and allows performing a pinching movement either actively or passively by moving the index finger against the thumb. A DC motor actuates a linear drive through a spindle, to which a hydraulic piston was fixed and remotely controlled the slave module inside the scanner room through a hydrostatic transmission. (E) A virtual environment displays an avatar performing a pinching movement. The synchrony (synchronous vs asynchronous) and the congruency (left vs right virtual hand moving) can be manipulated under computer control. (F) Examples of position and force traces for an active trial (i.e. the subject moves) and a passive trial (i.e. the robot moves). Credit:科学报告(2021)。DOI: 10.1038 / s41598 - 021 - 97540 - 9。
