On the Design of Miniature Haptic Devices for Upper Extremity Prosthetics

Title
On the Design of Miniature Haptic Devices for Upper Extremity Prosthetics
Authors
김기훈J. Edward ColgateJulio J. Santos-MunnAlexander MakhlinMichael A. Peshkin
Keywords
Haptic feedback; Mechanical Haptic Display; Miniature Haptic Device; Multifunction Tactor; Upper Extremity Prosthesis; 2E21744; 2M23670
Issue Date
2010-01
Publisher
IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
Citation
VOL 15, NO 1, 27-39
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.
URI
http://pubs.kist.re.kr/handle/201004/37105
ISSN
1083-4435
Appears in Collections:
KIST Publication > Article
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