Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task

Jeremy D. Brown, Andrew Paek, Mashaal Syed, Marcia K. O'Malley, Patricia A. Shewokis, Jose Luis Contreras-Vidal, Alicia J. Davis, R. Brent Gillespie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Scopus citations


Achieving dexterous volitional control of an upper-limb prosthetic device will require multimodal sensory feedback that goes beyond vision. Haptic display is well-positioned to provide this additional sensory information. Haptic display, however, includes a diverse set of modalities that encode information differently. We have begun to make a comparison between two of these modalities, force feedback spanning the elbow, and amplitude-modulated vibrotactile feedback, based on performance in a functional grasp and lift task. In randomly ordered trials, we assessed the performance of N=11 participants (8 able-bodied, 3 amputee) attempting to grasp and lift an object using an EMG controlled gripper under three feedback conditions (no feedback, vibrotactile feedback, and force feed-back), and two object weights that were undetectable by vision. Preliminary results indicate differences between able-bodied and amputee participants in coordination of grasp and lift forces. In addition, both force feedback and vibrotactile feedback contribute to significantly better task performance (fewer slips) and better adaptation following an unpredicted weight change. This suggests that the development and utilization of internal models for predictive control is more intuitive in the presence of haptic feedback.

Original languageEnglish (US)
Title of host publication2013 World Haptics Conference, WHC 2013
Number of pages6
StatePublished - 2013
Event2013 IEEE World Haptics Conference, WHC 2013 - Daejeon, Korea, Republic of
Duration: Apr 14 2013Apr 17 2013

Publication series

Name2013 World Haptics Conference, WHC 2013


Other2013 IEEE World Haptics Conference, WHC 2013
Country/TerritoryKorea, Republic of


  • grasp and lift
  • human-machine interface
  • prosthetics
  • sensory substitution

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Software


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