TY - GEN
T1 - Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task
AU - Brown, Jeremy D.
AU - Paek, Andrew
AU - Syed, Mashaal
AU - O'Malley, Marcia K.
AU - Shewokis, Patricia A.
AU - Contreras-Vidal, Jose Luis
AU - Davis, Alicia J.
AU - Gillespie, R. Brent
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.
AB - Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.
KW - grasp and lift
KW - human-machine interface
KW - prosthetics
KW - sensory substitution
UR - http://www.scopus.com/inward/record.url?scp=84881395237&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881395237&partnerID=8YFLogxK
U2 - 10.1109/WHC.2013.6548420
DO - 10.1109/WHC.2013.6548420
M3 - Conference contribution
AN - SCOPUS:84881395237
SN - 9781479900886
T3 - 2013 World Haptics Conference, WHC 2013
SP - 271
EP - 276
BT - 2013 World Haptics Conference, WHC 2013
T2 - 2013 IEEE World Haptics Conference, WHC 2013
Y2 - 14 April 2013 through 17 April 2013
ER -