Testing a Prosthetic Haptic Feedback Simulator With an Interactive Force Matching Task

Chatterjee, Aniruddha; Chaubey, Pravin; Martin, Jay B.; Thakor, Nitish V.

doi:10.1097/01.jpo.0000311041.61628.be

Cited by 104 publications

(126 citation statements)

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“…This implies that even under 'ideal' conditions, the limiting factor in sensory relearning is the patients' ability to reinterpret sensory information (Rosén et al 1994). Using sensory systems that are not normally engaged in the task further taxes the cognitive system of the patient (Chatterjee et al 2008;Cipriani et al 2008).…”

Section: Discussionmentioning

confidence: 99%

“…Feedback for prosthetic hands has traditionally been provided in a continuous fashion and with limited success, whether at body sites normally not involved in the motor task (Mann and Reimers 1970;Chatterjee et al 2008;Cipriani et al 2008;Saunders and Vijayakumar 2011;Stepp et al 2012) or by interfacing directly to neural structures normally involved in the control (i.e., afferent nerve fibers; Dhillon and Horch 2005;Rossini et al 2010;Horch et al 2011). For instance, Saunders and Vijayakumar (2011) provided continuous vibrotactile feedback related to grip force of a robot hand in an experimental setup similar to ours but failed to demonstrate any improved performance above that observed with visual feedback alone.…”

Section: Discussionmentioning

confidence: 99%

“…However, despite various attempts to provide sensory feedback and closed-loop control of hand prostheses over the years, none has been proven functional and thus been deployed in clinical practice (Antfolk et al 2013). In all previous attempts, feedback was provided in a continuous fashion, e.g., by mapping grip force to a certain vibration frequency (Mann and Reimers 1970;Chatterjee et al 2008;Cipriani et al 2008;Stepp et al 2012), a mechanical stimulus (Meek et al 1989;Antfolk et al 2012), or an electrical current (Szeto and Saunders 1982;Sasaki et al 2002). Yet, it is known that continuous closed-loop control of dynamic motor behaviors is severely limited by neural delays and therefore impractical at frequencies above 1 Hz (Hogan et al 1987).…”

Section: Introductionmentioning

confidence: 99%

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Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand

et al. 2014

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Providing functionally effective sensory feedback to users of prosthetics is a largely unsolved challenge. Traditional solutions require high band-widths for providing feedback for the control of manipulation and yet have been largely unsuccessful. In this study, we have explored a strategy that relies on temporally discrete sensory feedback that is technically simple to provide. According to the Discrete Event-driven Sensory feedback Control (DESC) policy, motor tasks in humans are organized in phases delimited by means of sensory encoded discrete mechanical events. To explore the applicability of DESC for control, we designed a paradigm in which healthy humans operated an artificial robot hand to lift and replace an instrumented object, a task that can readily be learned and mastered under visual control. Assuming that the central nervous system of humans naturally organizes motor tasks based on a strategy akin to DESC, we delivered short-lasting vibrotactile feedback related to events that are known to forcefully affect progression of the grasplift-and-hold task. After training, we determined whether the artificial feedback had been integrated with the sensorimotor control by introducing short delays and we indeed observed that Correspondence to: Christian Cipriani, ch.cipriani@sssup.it. Jacob L. Segil and Francesco Clemente have contributed equally to this work.Conflict of interest CC hold shares in Prensilia S.R.L., the company that manufactures robotic hands as the one used in this work, under the license to Scuola Superiore Sant'Anna. U.S. Department of Veterans AffairsPublic Access Author manuscript Exp Brain Res. Author manuscript; available in PMC 2015 December 01. VA Author ManuscriptVA Author Manuscript VA Author Manuscript the participants significantly delayed subsequent phases of the task. This study thus gives support to the DESC policy hypothesis. Moreover, it demonstrates that humans can integrate temporally discrete sensory feedback while controlling an artificial hand and invites further studies in which inexpensive, noninvasive technology could be used in clever ways to provide physiologically appropriate sensory feedback in upper limb prosthetics with much lower band-width requirements than with traditional solutions.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand

et al. 2014

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“…The science of haptics has provided us with knowledge about adaptability that has contributed to numerous applications: in the field of prosthetics or haptic technology (Kim, Colgate, Santos-Munné, Makhlin, & Peshkin, 2009); rehabilitation techniques for the integration of sensory feedback after amputation (Chatterjee, Chaubey, Martin, & Thakor, 2008); and haptic feedback in robot-assisted surgery (Okamura, 2009). The science of haptics has increasingly expanded to the development of interface technology in teleoperations in microgravity (Ando, Ohta, & Hashimoto, 2000).…”

Section: Discussionmentioning

confidence: 99%

Haptic anchoring and human postural control.

Mauerberg-deCastro¹,

Moraes²,

Tavares³

et al. 2014

Psychology & Neuroscience

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Several studies have emphasized the contribution of haptic input that results from the use of rigid and non-rigid tools to the postural control system. Experimental protocols such as the light touch and the anchor system are based on individuals' haptic exploration of the environment through direct tactile-kinesthetic contact, or indirectly through rigid or flexible tools that are attached to the body. In this article, we introduce the main findings of humans' haptic use of non-rigid tools during postural control tasks. We illustrate the effects of an anchor system paradigm on the maintenance of stability via haptic information. Haptic anchoring includes the handling of flexible cables that are attached to loads that are in contact with a surface. We include results of studies about haptic information gathered during the holding of a walking dog's leash. Studies that used the anchor system demonstrated its effectiveness in reducing body sway in several groups, including young adults, children, older individuals, and intellectually disabled individuals. We discuss several experimental designs and intervention protocols in order to illustrate how haptic anchoring could prompt functional plasticity.

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“…Most studies [28]- [30] considered single stimulation units with parameter modulation (e.g., frequency and intensity proportional to the feedback variable value) and a few [31]- [33] evaluated multichannel approaches using several electrodes or vibrators allowing for the spatial coding (e.g., stimulation location communicates the feedback variable). The studies provided important insights regarding the role and advantages of feedback in prosthetics, but they utilized simple force and position sensors embedded into the prosthesis.…”

Section: Introductionmentioning

confidence: 99%

A System for Electrotactile Feedback Using Electronic Skin and Flexible Matrix Electrodes: Experimental Evaluation

Franceschi

Seminara

Došen

et al. 2017

IEEE Trans. Haptics

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Abstract-Myoelectric prostheses are successfully controlled using muscle electrical activity, thereby restoring lost motor functions. However, the somatosensory feedback from the prosthesis to the user is still missing. The sensory substitution methods described in the literature comprise mostly simple position and force sensors combined with discrete stimulation units. The present study describes a novel system for sophisticated electrotactile feedback integrating advanced distributed sensing (electronic skin) and stimulation (matrix electrodes). The system was tested in eight healthy subjects who were asked to recognize the shape, trajectory and direction of a set of dynamic movement patterns (single lines, geometrical objects, letters) presented on the electronic skin. The experiments demonstrated that the system successfully translated the mechanical interaction into the moving electrotactile profiles, which the subjects could recognize with a good performance (shape recognition: 86±8% lines, 73±13% geometries, 72±12% letters). In particular, the subjects could identify the movement direction with a high confidence. These results are in accordance with previous studies investigating the recognition of moving stimuli in human subjects. This is an important development towards closed-loop prostheses providing comprehensive and sophisticated tactile feedback to the user, facilitating the control and the embodiment of the artificial device into the user body scheme.

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Testing a Prosthetic Haptic Feedback Simulator With an Interactive Force Matching Task

Cited by 104 publications

References 12 publications

Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand

Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand

Haptic anchoring and human postural control.

A System for Electrotactile Feedback Using Electronic Skin and Flexible Matrix Electrodes: Experimental Evaluation

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