This paper presents a novel cutaneous device capable of providing independent skin stretches at the palmar, dorsal, ulnar, and radial sides of the arm. It consists of a lightweight bracelet with four servo motors. Each motor actuates a cylindrical shaped end-effector that is able to rotate, generating skin stretch stimuli. To understand how to control and wear the device on the forearm to evoke the most effective cutaneous sensations, we carried out perceptual experiments evaluating its absolute and differential thresholds. Finally, we carried out an experiment of haptic navigation to assess the effectiveness of our device as a navigation feedback system to guide a desired rotation and translation of the forearm. Results demonstrate an average rotation and translation error of 1.87○ and 2.84 mm, respectively. Moreover, all the subjects found our device easy to wear and comfortable. Nine out of ten found it effective in transmitting navigation information to the forearm.
Chinello, F., Pacchierotti, C., N. G., T., Prattichizzo, D. (2016). Design of a wearable skin stretch cutaneous device for the upper limb. In Proc. 2016 IEEE Haptics Symposium (HAPTICS) (pp.14-20). New York : IEEE [10.1109/HAPTICS.2016.7463149].
Design of a wearable skin stretch cutaneous device for the upper limb
CHINELLO, FRANCESCO;PACCHIEROTTI, CLAUDIO;PRATTICHIZZO, DOMENICO
2016-01-01
Abstract
This paper presents a novel cutaneous device capable of providing independent skin stretches at the palmar, dorsal, ulnar, and radial sides of the arm. It consists of a lightweight bracelet with four servo motors. Each motor actuates a cylindrical shaped end-effector that is able to rotate, generating skin stretch stimuli. To understand how to control and wear the device on the forearm to evoke the most effective cutaneous sensations, we carried out perceptual experiments evaluating its absolute and differential thresholds. Finally, we carried out an experiment of haptic navigation to assess the effectiveness of our device as a navigation feedback system to guide a desired rotation and translation of the forearm. Results demonstrate an average rotation and translation error of 1.87○ and 2.84 mm, respectively. Moreover, all the subjects found our device easy to wear and comfortable. Nine out of ten found it effective in transmitting navigation information to the forearm.
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Descrizione: Accepted version © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Digital Object Identifier (DOI): 10.1109/HAPTICS.2016.7463149
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https://hdl.handle.net/11365/986299