TY - JOUR
T1 - On the design of miniature haptic devices for upper extremity prosthetics
AU - Kim, Keehoon
AU - Colgate, James Edward
AU - Santos-Munné, Julio J.
AU - Makhlin, Alexander
AU - Peshkin, Michael A.
N1 - Funding Information:
Manuscript received May 15, 2008; revised November 19, 2008. First published April 17, 2009; current version published November 18, 2009. Recommended by Technical Editor J. P. Desai. This work was supported by the Defense Advanced Research Projects Agency (DARPA) under Contract N66001-06-C-8005. This paper was based on the study supported by, or in part by, the U.S. Army Research Laboratory and the U.S. Army Research Office under Contract/Grant W911NF-06-C-0001. This paper was presented in part at the 2007 Frontiers in the Convergence of Bioscience and Information Technologies (FBIT 2007), Special Session on Haptics, Jeju, Korea, October 11–13.
PY - 2010/2
Y1 - 2010/2
N2 - We have developed three different versions of a multifunction haptic device that can display touch, pressure, vibration, shear force, and temperature to the skin of an upper extremity amputee, especially the one who has undergone targeted nerve reinnervation (TR) surgery. In TR patients, sensation from the reinnervated skin is projected to the missing hand. This paper addresses the design of the mechanical display, the portion responsible for contact, pressure, vibration, and shear force. A variety of different overall design approaches satisfying the design specifications and the performance requirements are considered. The designs of the fully prototyped haptic devices are compared through open-loop frequency response, closed-loop force response, and tapping response in constrained motion. We emphasize the tradeoffs between key design factors, including force capability, workspace, size, bandwidth, weight, and mechanism complexity.
AB - We have developed three different versions of a multifunction haptic device that can display touch, pressure, vibration, shear force, and temperature to the skin of an upper extremity amputee, especially the one who has undergone targeted nerve reinnervation (TR) surgery. In TR patients, sensation from the reinnervated skin is projected to the missing hand. This paper addresses the design of the mechanical display, the portion responsible for contact, pressure, vibration, and shear force. A variety of different overall design approaches satisfying the design specifications and the performance requirements are considered. The designs of the fully prototyped haptic devices are compared through open-loop frequency response, closed-loop force response, and tapping response in constrained motion. We emphasize the tradeoffs between key design factors, including force capability, workspace, size, bandwidth, weight, and mechanism complexity.
KW - Haptic feedback
KW - Mechanical haptic display
KW - Miniature haptic device
KW - Multifunction tactor
KW - Upper extremity prosthesis
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U2 - 10.1109/TMECH.2009.2013944
DO - 10.1109/TMECH.2009.2013944
M3 - Article
AN - SCOPUS:70649088202
SN - 1083-4435
VL - 15
SP - 27
EP - 39
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
M1 - 4815425
ER -