On the design of miniature haptic devices for upper extremity prosthetics

Keehoon Kim; James Edward Colgate; Julio J. Santos-Munné; Alexander Makhlin; Michael A. Peshkin

doi:10.1109/TMECH.2009.2013944

On the design of miniature haptic devices for upper extremity prosthetics

Keehoon Kim^*, James Edward Colgate, Julio J. Santos-Munné, Alexander Makhlin, Michael A. Peshkin

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

84 Scopus citations

Abstract

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.

Original language	English (US)
Article number	4815425
Pages (from-to)	27-39
Number of pages	13
Journal	IEEE/ASME Transactions on Mechatronics
Volume	15
Issue number	1
DOIs	https://doi.org/10.1109/TMECH.2009.2013944
State	Published - Feb 2010

Funding

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.

Keywords

Haptic feedback
Mechanical haptic display
Miniature haptic device
Multifunction tactor
Upper extremity prosthesis

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMECH.2009.2013944

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abstract = "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.",

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On the design of miniature haptic devices for upper extremity prosthetics

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Keywords

ASJC Scopus subject areas

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