Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control

Controlling the motion of a prosthetic upper limb without visual feedback is extremely difficult because the wearer does not know the prosthesis' configuration. This paper describes an experiment designed to determine the relative importance of visual and haptic position feedback during targete...

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Bibliographic Details
Published inSecond Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07) pp. 561 - 562
Main Authors Kuchenbecker, K.J., Gurari, N., Okamura, A.M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.03.2007
Subjects
Admittance
Displays
Fingers
Force feedback
Haptic interfaces
Humans
Measurement
Motion control
Prosthetics
Torque control
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Summary:Controlling the motion of a prosthetic upper limb without visual feedback is extremely difficult because the wearer does not know the prosthesis' configuration. This paper describes an experiment designed to determine the relative importance of visual and haptic position feedback during targeted force-based motion by non-amputee human subjects as an analogy to prosthetic use. Subjects control the angle of a virtual proxy through an admittance relationship by generating torque at the MCP joint of the right index finger. During successive repetitions of a target acquisition task, the proxy's state is selectively conveyed to the user through graphical display, finger motion, and tactile stimulation. Performance metrics for each feedback condition will provide insights on the role of haptic position feedback and may help guide the development of future upper-limb prostheses
ISBN:0769527388
9780769527383
DOI:10.1109/WHC.2007.93