An Efficient Multi-Channel Electrotactile Parameter Configuration Method for Personalized Teleoperation

Electrotactile feedback is a compact approach for providing tactile cues in robotic teleoperation, but personalized calibration remains time-consuming because tactile perception varies across users. To address this problem, this study develops a subject-informed multi-layer finite element model of fingertip electric-field distribution coupled with a neural-response model and proposes a simulation-derived configuration-ranking method termed the Perceived Correctness Score (PCS). A gradient boosting regression model is then used to recommend among 36 candidate electrode diameter-spacing combinations. Validation was conducted using a custom-developed 3 × 2 multi-channel fingertip electrotactile stimulation system in a shape/area recognition task involving six healthy subjects. The predicted PCS showed a moderate positive correlation with the measured mean recognition accuracy across configurations (Pearson r = 0.48, p < 0.05). The model achieved Top-1 exact matching for three of six subjects and Top-5 coverage for five of six subjects. Compared with conventional exhaustive psychophysical calibration, the proposed method reduced the average configuration time from 122.7 min to 16.0 min, corresponding to an efficiency improvement of 87.0%. These results show that model-guided ranking can substantially reduce the burden of individualized electrotactile configuration.