Objective: The bidirectional communication between the user and the prosthesis is an important requirement when developing prosthetic hands. Proprioceptive feedback is fundamental to perceiving prosthesis movement without the need for constant visual attention. We propose a novel solution to encode wrist rotation using a vibromotor array and Gaussian interpolation of vibration intensity. The approach generates tactile sensation that smoothly rotates around the forearm congruently with prosthetic wrist rotation. The performance of this scheme was systematically assessed for a range of parameter values (number of motors and Gaussian standard deviation). Methods: Fifteen able-bodied subjects and one individual with congenital limb deficiency used vibrational feedback to control the virtual hand in the target-achievement test. Performance was assessed by end-point error and efficiency as well as subjective impressions. Results: The results showed a preference for smooth feedback and a higher number of motors (8 and 6 versus 4). With 8 and 6 motors, the standard deviation, determining the sensation spread and continuity, could be modulated through a broad range of values (0.1 - 2) without a significant performance loss (error: ∼ 10%; efficiency: ∼ 30%). For low values of standard deviation (0.1-0.5), the number of motors could be reduced to 4 without a significant performance decrease. Conclusion: The study demonstrated that the developed strategy provided meaningful rotation feedback. Moreover, the Gaussian standard deviation can be used as an independent parameter to encode an additional feedback variable. Significance: The proposed method is a flexible and effective approach to providing proprioceptive feedback while adjusting the trade-off between sensation quality and the number of vibromotors.

A Novel Method for Vibrotactile Proprioceptive Feedback Using Spatial Encoding and Gaussian Interpolation / Marinelli, A.; Boccardo, N.; Canepa, M.; Di Domenico, D.; Semprini, M.; Chiappalone, M.; Laffranchi, M.; De Michieli, L.; Dosen, S.. - In: IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING. - ISSN 0018-9294. - STAMPA. - PP:(2023), pp. 1-12. [10.1109/TBME.2023.3285850]

A Novel Method for Vibrotactile Proprioceptive Feedback Using Spatial Encoding and Gaussian Interpolation

D. Di Domenico;
2023

Abstract

Objective: The bidirectional communication between the user and the prosthesis is an important requirement when developing prosthetic hands. Proprioceptive feedback is fundamental to perceiving prosthesis movement without the need for constant visual attention. We propose a novel solution to encode wrist rotation using a vibromotor array and Gaussian interpolation of vibration intensity. The approach generates tactile sensation that smoothly rotates around the forearm congruently with prosthetic wrist rotation. The performance of this scheme was systematically assessed for a range of parameter values (number of motors and Gaussian standard deviation). Methods: Fifteen able-bodied subjects and one individual with congenital limb deficiency used vibrational feedback to control the virtual hand in the target-achievement test. Performance was assessed by end-point error and efficiency as well as subjective impressions. Results: The results showed a preference for smooth feedback and a higher number of motors (8 and 6 versus 4). With 8 and 6 motors, the standard deviation, determining the sensation spread and continuity, could be modulated through a broad range of values (0.1 - 2) without a significant performance loss (error: ∼ 10%; efficiency: ∼ 30%). For low values of standard deviation (0.1-0.5), the number of motors could be reduced to 4 without a significant performance decrease. Conclusion: The study demonstrated that the developed strategy provided meaningful rotation feedback. Moreover, the Gaussian standard deviation can be used as an independent parameter to encode an additional feedback variable. Significance: The proposed method is a flexible and effective approach to providing proprioceptive feedback while adjusting the trade-off between sensation quality and the number of vibromotors.
File in questo prodotto:
File Dimensione Formato  
A_Novel_Method_for_Vibrotactile_Proprioceptive_Feedback_Using_Spatial_Encoding_and_Gaussian_Interpolation.pdf

non disponibili

Tipologia: 2. Post-print / Author's Accepted Manuscript
Licenza: Non Pubblico - Accesso privato/ristretto
Dimensione 4.88 MB
Formato Adobe PDF
4.88 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2983866