DocumentCode :
2238621
Title :
Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control
Author :
Kuchenbecker, Katherine J. ; Gurari, Netta ; Okamura, Allison M.
Author_Institution :
Johns Hopkins Univ., Baltimore, MD
fYear :
2007
fDate :
22-24 March 2007
Firstpage :
561
Lastpage :
562
Abstract :
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
Keywords :
force control; force feedback; haptic interfaces; motion control; prosthetics; finger motion; force-based motion control; graphical display; haptic position feedback; performance metrics; prosthesis configuration; prosthetic upper limb; tactile stimulation; upper-limb prosthesis; virtual proxy; visual position feedback; Admittance; Displays; Fingers; Force feedback; Haptic interfaces; Humans; Measurement; Motion control; Prosthetics; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint
Conference_Location :
Tsukaba
Print_ISBN :
0-7695-2738-8
Type :
conf
DOI :
10.1109/WHC.2007.93
Filename :
4145237
Link To Document :
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