·1268 工程科学学报，第43卷.第9期 sensitivity threshold using cochet-bonnet esthesiometer and [19]Nilas P,Rani P,Sarkar N.An innovative high-level human-robot Semmes-weinstein monofilaments and their use in corneal interaction for disabled persons//Proceedings of the IEEE neurotization.Ophthalmic Plast Reconstr Surg,2020:32773513 International Conference on Robotics and Automation.New [12]Ng KK W,Olausson C,Vickery R M,et al.Temporal patterns in 0 rleans,2004:2309 electrical nerve stimulation:Burst gap code shapes tactile [20]Li M,Luo S,Nanayakkara T,et al.Multi-fingered haptic palpation frequency perception.PLoSOne,2020,15(8):e0237440 using pneumatic feedback actuators.Sensors Actuat A:Plrys,2014, [13]Rahman M S,Barnes K A,Crommett L E,et al.Auditory and 218:132 tactile frequency representations are co-embedded in modality- [21]Luna P S,Osorio E,Cardiel E,et al.Communication aid for defined cortical sensory systems.Neurolmage,2020,215:116837 speech disabled people using Morse codification /Proceedingsof [14]Won H I,Altinsoy M E.Effect of auditory feedback on tactile the Second Joint EMBS-BMES Conference.Houston,002:2434 intensity perception in a touchscreen application.IEEE Trans [22]van der Putten E W,Hajian M,Goossens R,et al.A laparoscopic Haptics,2020,13(2):343 grasper handle with integrated augmented tactile feedback, [15]Cholewiak R W.Spatial factors in the perceived intensity of designed for training grasp control//Proceedings of the 2010 vibrotactile patterns.Sens Processes,1979,3(2):141 International Conference on Haptics -Generating and [16]Gunther E.Skinscape:A tool for composition in the tactile Perceiving Tangible Sensations:Part II.Heidelberg:2010:243 modaliry [Dissertation].Cambridge:Massachusetts Institute of [23]Chu S W,Zhu K Y.Designing for tactile Braille reading methods Technology,2001 on smartphones.Trans Beijing Inst Technol,2019,39(2):181 [17]Hao F.The Research on Tactile Code and Vibrotactile Display of (褚少微，朱科颖.手机盲文触感阅读方法的设计与评估.北京 Information [Dissertation].Nanjing:Southeast University,2014 理工大学学报，2019,39(2)片181) (郝飞.信息的触觉编码及振动触觉表达技术的研究学位论 [24]Heibeck F,Hope A,Legault J.Sensory Fiction:A Design Fiction 文]南京：东南大学，2014) of Emotional Computation//Proceedings of the 2nd ACM [18]Yang H N,Wu J,Ouyang QQ.Combined vibration tactile coding International Workshop on Immersive Media Experiences. for expressing flight attitude information.ChinJ Sensors Actuat, Orlando,2014:35 2018,31(5):700 [25]Israr A,Poupyrev I.Tactile brush:drawing on skin with a tactile (杨怀宁，吴涓，欧阳强强.用于表达飞行姿态信息的组合式振 grid displayl/Proceedings of the SIGCHI Conference on Human 动触觉编码.传感技术学报，2018,31(5)：700) Factors in Computing Systems.Vancouver,2011:2019sensitivity threshold using cochet-bonnet esthesiometer and Semmes-weinstein monofilaments and their use in corneal neurotization. Ophthalmic Plast Reconstr Surg, 2020: 32773513 Ng K K W, Olausson C, Vickery R M, et al. Temporal patterns in electrical nerve stimulation: Burst gap code shapes tactile frequency perception. PLoS One, 2020, 15（8）: e0237440 [12] Rahman M S, Barnes K A, Crommett L E, et al. Auditory and tactile frequency representations are co-embedded in modality￾defined cortical sensory systems. NeuroImage, 2020, 215: 116837 [13] Won H I, Altinsoy M E. Effect of auditory feedback on tactile intensity perception in a touchscreen application. IEEE Trans Haptics, 2020, 13（2）: 343 [14] Cholewiak R W. Spatial factors in the perceived intensity of vibrotactile patterns. Sens Processes, 1979, 3（2）: 141 [15] Gunther E. Skinscape: A tool for composition in the tactile modality [Dissertation]. Cambridge: Massachusetts Institute of Technology, 2001 [16] Hao F. The Research on Tactile Code and Vibrotactile Display of Information [Dissertation]. Nanjing: Southeast University, 2014 （ 郝飞. 信息的触觉编码及振动触觉表达技术的研究[学位论 文]. 南京: 东南大学, 2014） [17] Yang H N, Wu J, Ouyang Q Q. Combined vibration tactile coding for expressing flight attitude information. Chin J Sensors Actuat, 2018, 31（5）: 700 （杨怀宁, 吴涓, 欧阳强强. 用于表达飞行姿态信息的组合式振 动触觉编码. 传感技术学报, 2018, 31（5）：700） [18] Nilas P, Rani P, Sarkar N. An innovative high-level human-robot interaction for disabled persons//Proceedings of the IEEE International Conference on Robotics and Automation. New Orleans, 2004: 2309 [19] Li M, Luo S, Nanayakkara T, et al. Multi-fingered haptic palpation using pneumatic feedback actuators. Sensors Actuat A: Phys, 2014, 218: 132 [20] Luna P S, Osorio E, Cardiel E, et al. Communication aid for speech disabled people using Morse codification // Proceedings of the Second Joint EMBS-BMES Conference. Houston, 2002: 2434 [21] van der Putten E W, Hajian M, Goossens R, et al. A laparoscopic grasper handle with integrated augmented tactile feedback, designed for training grasp control//Proceedings of the 2010 International Conference on Haptics — Generating and Perceiving Tangible Sensations: Part II. Heidelberg: 2010: 243 [22] Chu S W, Zhu K Y. Designing for tactile Braille reading methods on smartphones. Trans Beijing Inst Technol, 2019, 39（2）: 181 （褚少微, 朱科颖. 手机盲文触感阅读方法的设计与评估. 北京 理工大学学报, 2019, 39（2）：181） [23] Heibeck F, Hope A, Legault J. Sensory Fiction: A Design Fiction of Emotional Computation//Proceedings of the 2nd ACM International Workshop on Immersive Media Experiences. Orlando, 2014: 35 [24] Israr A, Poupyrev I. Tactile brush: drawing on skin with a tactile grid display//Proceedings of the SIGCHI Conference on Human Factors in Computing Systems. Vancouver, 2011: 2019 [25] · 1268 · 工程科学学报，第 43 卷，第 9 期