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本文对电触觉的实现作了实验性研究．提出了在操作者手指上实现触觉再现的电极形状和分布以及刺激电流波形，并由此给出了实现遥作机器人触觉临场感的系统构成及实现方案．该系统可使操作者遥感到从机器人机械手指与点，线，面等形状物体的接触，位置分辨力可达２．２ｍｍ．
This paper makes an experimental study on the realization of electrical tactile sense. The shape and distribution of electrodes and the current waveforms of stimulus for tactile reproduction on the finger of the operator are proposed. The system structure and realization scheme of telepresence of remote robots are given. The system allows the operator to remotely sense the robot finger from the robot with the point, line, surface and other objects in contact shape, the position resolution of up to 2.2mm.