Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 1, Pages 207-214Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3122897
Keywords
Haptic and proprioceptive sensation; transcutaneous nerve stimulation; vibrotactile stimulation; stiffness recognition; size recognition
Categories
Funding
- National Science Foundation [IIS-1954587, ECCS-2123678]
- National Institute of Health [1 F31 NS110364-01A1]
Ask authors/readers for more resources
This study evaluated the recognition of object properties using myoelectric control and sensory feedback in controlling a prosthetic hand. The findings show that evoked haptic and proprioceptive feedback can facilitate closed-loop control of the prosthetic hand, allowing for simultaneous recognition of different object properties.
Haptic and proprioceptive feedback is critical for sensorimotor integration when we use our hand to perform daily tasks. Here, we evaluated how externally evoked haptic and proprioceptive feedback and myoelectric control strategies affected the recognition of object properties when participants controlled a prosthetic hand. Fingertip haptic sensation was elicited using a transcutaneous nerve stimulation grid to encode the prosthetic's fingertip forces. An array of tactors elicited patterned vibratory stimuli to encode tactile-proprioceptive kinematic information of the prosthetic finger joint. Myoelectric signals of the finger flexor and extensor were used to control the position or velocity of joint angles of the prosthesis. Participants were asked to perform object property (stiffness and size) recognition, by controlling the prosthetic hand with concurrent haptic and tactile-proprioceptive feedback. With the evoked feedback, intact and amputee participants recognized the object stiffness and size at success rates ranging from 50% to 100% in both position and velocity control with no significant difference across control schemes. Our findings show that evoked somatosensory feedback in a non-invasive manner can facilitate closed-loop control of the prosthetic hand and allowed for simultaneous recognition of different object properties. The outcomes can facilitate our understanding on the role of sensory feedback during bidirectional human-machine interactions, which can potentially promote user experience in object interactions using prosthetic hands.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available