This study describes the development and evaluation of a platform for the investigation of the human tactile ability. Specifically, it enables precise and reproducible application of time-varying 3D force stim- uli to the skin of an immobilized human limb. We proceeded in the following steps: (1) programming a low-cost haptic interface to apply time-varying 3D force stimuli to a fixed rigid target, (2) implement- ing a combined feed-forward/feedback controller to improve the platform’s precision and reliability in force stimulation, (3) determining the optimal tuning of the control loop parameters and (4) evaluat- ing the system’s performances when applying time-varying 3D force stimuli to an immobilized human finger pad. The system’s performances were evaluated in terms of the accuracy and repeatability when delivering standard 3D force stimuli, i.e., stimuli with specified force components in the normal and skin tangential directions. Within the range of forces tested (5N in various directions), the maximum differ- ence between the actual force and the desired value during static phases was <30mN(accuracy) and the root-mean-square of the standard deviation (repeatability) was 15mN during static phases and <75mN during dynamic phases.
A modified low-cost haptic interface as a toolfor complex tactile stimulation
PANARESE, Alessandro;
2011-01-01
Abstract
This study describes the development and evaluation of a platform for the investigation of the human tactile ability. Specifically, it enables precise and reproducible application of time-varying 3D force stim- uli to the skin of an immobilized human limb. We proceeded in the following steps: (1) programming a low-cost haptic interface to apply time-varying 3D force stimuli to a fixed rigid target, (2) implement- ing a combined feed-forward/feedback controller to improve the platform’s precision and reliability in force stimulation, (3) determining the optimal tuning of the control loop parameters and (4) evaluat- ing the system’s performances when applying time-varying 3D force stimuli to an immobilized human finger pad. The system’s performances were evaluated in terms of the accuracy and repeatability when delivering standard 3D force stimuli, i.e., stimuli with specified force components in the normal and skin tangential directions. Within the range of forces tested (5N in various directions), the maximum differ- ence between the actual force and the desired value during static phases was <30mN(accuracy) and the root-mean-square of the standard deviation (repeatability) was 15mN during static phases and <75mN during dynamic phases.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
