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Towards a Generalized Experimental Framework for Comparing Haptic Feedback Modalities in Myoelectric Upper-Limb Prostheses
Neha Thomas, Jacob Carducci, and Jeremy D. Brown
(Johns Hopkins School of Medicine, USA; Johns Hopkins University, USA)
WIP Poster E4
Publisher's Version
Abstract: In this paper, we present an experimental testbed and methodology for comparing the utility of kinesthetic and vibrotactile feedback of grip force and grip aperture in a myoelectric upper-limb prosthesis. The testbed features a cable-driven voluntary-closing 1-DoF prosthesis, a cable-driven elbow exoskeleton for rendering joint-torque feedback, and a vibrotactile actuation unit. The system is capable of measuring the stiffness of objects being grasped by the prosthesis terminal device and present this information to users as an extension moment about the elbow. The system is also capable of rendering grip force and grip aperture as vibration. To equally compare kinesthetic and vibrotactile feedback, a cross-modal matching study was conducted which indicated that the normalized exoskeleton force intensity should be higher than the normalized vibration intensity for the two modalities to be perceived the same. The results of this preliminary analysis will guide future investigations into the utility of kinesthetic and vibrotactile feedback, as well as various other haptic feedback modalities, in object recognition and discrimination tasks with upper-limb myoelectric prostheses.


Time stamp: 2019-03-26T21:15:12+01:00