5 research outputs found
Design of a wearable skin stretch cutaneous device for the upper limb
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