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

Research output: Contribution to journalArticlepeer-review

79 Scopus citations


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 languageEnglish (US)
Article number4815425
Pages (from-to)27-39
Number of pages13
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
StatePublished - Feb 2010


  • 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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