期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 15, 期 1, 页码 27-39出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2009.2013944
关键词
Haptic feedback; mechanical haptic display; miniature haptic device; multifunction tactor; upper extremity prosthesis
类别
资金
- Defense Advanced Research Projects Agency (DARPA) [N66001-06-C-8005]
- U.S. Army Research Laboratory
- U.S. Army Research Office [W911NF-06-C-0001]
We have developed three different versions of a multi-function 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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