Force Discrimination Ability of the Human Hand near Absolute Threshold for the Design of Force Feedback Systems in Teleoperations

Khabbaz, Faezeh Heydari; Goldenberg, A.A.; Drake, James M.

doi:10.1162/pres_a_00245

Cited by 14 publications

(6 citation statements)

References 32 publications

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“…JND, or 50 mN, at a reference of 100 mN) (48). Thus, the force resolution of our implantable sensor is approximately equal to the absolute threshold of natural touch and well below the JND at any reference force level.…”

Section: Discussionmentioning

confidence: 77%

An implantable wireless tactile sensing system

Richardson

Han

et al. 2023

Preprint

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The sense of touch is critical to dexterous use of the hands and thus an essential component to efforts to restore hand function after amputation or paralysis. Prosthetic systems have focused on wearable tactile sensors. But wearable sensors are suboptimal for neuroprosthetic systems designed to reanimate a patient’s own paralyzed hand. Here, we developed an implantable tactile sensing system intended for subdermal placement. The system is composed of a microfabricated capacitive force sensor, a custom integrated circuit supporting wireless powering and data transmission, and a laser-fused hermetic silica package. The miniature device was validated through simulations, benchtop testing, and ex vivo testing in a primate hand. The sensor implanted in the fingertip accurately measured skin forces with a resolution of 4.3 mN. The output from this novel sensor could be encoded in the brain with microstimulation to provide tactile feedback. More broadly, the materials, system design, and fabrication approach establish new foundational capabilities for various applications of implantable sensing systems.

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Section: Discussionmentioning

confidence: 77%

An implantable wireless tactile sensing system

Richardson

Han

et al. 2023

Preprint

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“…The perceptual just noticeable difference (JND, i.e., difference threshold) for the sense of touch asymptotes at approximately 10% for reference force levels above 2 N (e.g., minimum changes of 200 mN and 300 mN are perceived at a reference of 2 N and 3 N, respectively) 46 . The JND increases as the reference force approaches the absolute threshold (e.g., 50% JND, or 50 mN, at a reference of 100 mN) 47 . Thus, the force resolution of our implantable sensor is approximately equal to the absolute threshold of natural touch and well below the JND at any reference force level.…”

Section: Discussionmentioning

confidence: 99%

An implantable, wireless, battery-free system for tactile pressure sensing

Du,

Hao,

Ding

et al. 2023

Microsyst Nanoeng

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The sense of touch is critical to dexterous use of the hands and thus an essential component of efforts to restore hand function after amputation or paralysis. Prosthetic systems have addressed this goal with wearable tactile sensors. However, such wearable sensors are suboptimal for neuroprosthetic systems designed to reanimate a patient’s own paralyzed hand. Here, we developed an implantable tactile sensing system intended for subdermal placement. The system is composed of a microfabricated capacitive pressure sensor, a custom integrated circuit supporting wireless powering and data transmission, and a laser-fused hermetic silica package. The miniature device was validated through simulations, benchtop assessment, and testing in a primate hand. The sensor implanted in the fingertip accurately measured applied skin forces with a resolution of 4.3 mN. The output from this novel sensor could be encoded in the brain with microstimulation to provide tactile feedback. More broadly, the materials, system design, and fabrication approach establish new foundational capabilities for various applications of implantable sensing systems.

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“…The sensing accuracy is 1.5 N due to the nonlinearity of the FSR sensor and hysteresis of the sensor. Previous research reported that the Weber fraction of force is higher than 7% [ 37 , 38 , 39 ]. The sensing accuracy is below the Weber fraction, which is allowable for a wearable device, because a human cannot discriminate the force difference.…”

Section: A Hip-force Sensor For a Gait-enhancing Mechatronic Systementioning

confidence: 99%

Compact Hip-Force Sensor for a Gait-Assistance Exoskeleton System

Choi

Seo

Hyung

et al. 2018

Sensors

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In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taking urgent safety action. Two FSR (force-sensitive resistors) sensors are used to measure the assistance force when the user is walking. The sensor system directly measures the interaction force between the exoskeleton and the lower limb of the user instead of a previously reported force-sensing method, which estimated the hip assistance force from the current of the motor and lookup tables. Furthermore, the sensor system has the advantage of generating torque in the walking-assistant actuator based on directly measuring the hip-assistance force. Thus, the gait-assistance exoskeleton system can control the delivered power and torque to the user. The force sensing structure is designed to decouple the force caused by hip motion from other directional forces to the sensor so as to only measure that force. We confirmed that the hip-assistance force could be measured with the proposed prototype compact force sensor attached to a thigh frame through an experiment with a real system.

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Force Discrimination Ability of the Human Hand near Absolute Threshold for the Design of Force Feedback Systems in Teleoperations

Cited by 14 publications

References 32 publications

An implantable wireless tactile sensing system

An implantable wireless tactile sensing system

An implantable, wireless, battery-free system for tactile pressure sensing

Compact Hip-Force Sensor for a Gait-Assistance Exoskeleton System

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