为解决水生动物机器人因植入脑电极而产生的脑组织损伤、出血、感染和水肿等问题，本文提出了一种用于鲤鱼机器人的光刺激装置及光控实验方法。该装置是根据鲤鱼颅骨形状用万能板切割而成“王”字型结构，可为光刺激源提供 A、B、C 三组搭载桥平台，每组搭载桥两端各焊接一个跳线板，将发光二极管（LED）作为光刺激源插入跳线板中，将跳线板所有负极通过导线连接到控制台，LED 灯根据波长需要可以更换，还可选择多种组合光刺激方式。将该装置搭载于鲤鱼头部，将鲤鱼机器人置于水迷宫中，观察应用光控方法在暗光下控制鲤鱼机器人（n = 10）前进及转向等运动。结果显示，三组红光光控实验成功率在 53%～87%，三组蓝光光控实验成功率在 50%～80%。研究表明该装置与方法具有可行性。
In order to solve the problems that the injury, hemorrhage, infection and edema of the brain tissue caused by brain electrodes implantation for aquatic animal robots, a light stimulation device and an optical control experiment method for carp robots are proposed in this paper. According to the shape of the carp skull, the device is a structure of Chinese character " 王” cut by a printed circuit board which can provide three groups of A, B and C bridge platforms for the light stimulation source. The two ends of a bridge in every group are welded with a jumper board, and the light emitting diodes (LED) are inserted into the jumper boards as the light stimulation source, and all negative poles of the jumper boards are connected to the console by the wire. A LED light can be replaced by another LED light according to the need of the wavelength of the LED light, and various combinations of the light stimulation modes can be also selected. This device was mounted on the carp robot’s head, the carp robot was placed in a water maze, and the optical control experiment method was observed to control the forward movement and steering movement of the carp robots (n = 10) under the dark light condition. The results showed that the success rates of the three groups of red light control experiments were 53%–87%, and the success rates of the three groups of blue light control experiments were 50%–80%. This study shows that the apparatus and the method are feasible.
引用本文： 彭勇, 韩晓晓, 王婷婷, 刘洋, 闫艳红, 赵洋, 王爱迪, 苏佩华, 张凡. 一种用于鲤鱼机器人的光刺激装置及光控实验方法. 生物医学工程学杂志, 2018, 35(5): 720-726. doi: 10.7507/1001-5515.201801076 复制