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책소개

In this paper, a novel haptic feedback scheme, used for accurately positioning a
1DOF virtual wrist prosthesis through sensory substitution, is presented. The
scheme employs a three-node tactor array and discretely and selectively modulates
the stimulation frequency of each tactor to relay 11 discrete haptic stimuli to the
user. Able-bodied participants were able to move the virtual wrist prosthesis via a
surface electromyography based controller. The participants evaluated the feedback
scheme without visual or audio feedback and relied solely on the haptic feedback
alone to correctly position the hand. The scheme was evaluated through both
normal (perpendicular) and shear (lateral) stimulations applied on the forearm.
Normal stimulations were applied through a prototype device previously developed
by the authors while shear stimulations were generated using an ubiquitous coin
motor vibrotactor. Trials with no feedback served as a baseline to compare results
within the study and to the literature. The results indicated that using normal and
shear stimulations resulted in accurately positioning the virtual wrist, but were not
significantly different. Using haptic feedback was substantially better than no
feedback. The results found in this study are significant since the feedback scheme
allows for using relatively few tactors to relay rich haptic information to the user
and can be learned easily despite a relatively short amount of training.
Additionally, the results are important for the haptic community since they
contradict the common conception in the literature that normal stimulation is
inferior to shear. From an ergonomic perspective normal stimulation has the
potential to benefit upper limb amputees since it can operate at lower frequencies
than shear-based vibrotactors while also generating less noise. Through further
tuning of the novel haptic feedback scheme and normal stimulation device, a
compact and comfortable sensory substitution device for upper limb amputees
might be created.

목차

제 1편 : SIMULINK 기본편
1.1 SIMULINK의 시작 1
블록의 연결 5
블록 파라미터의 설정 7
시뮬레이션 파라미터 (Configuration Parameters)의 설정 8
시뮬레이션의 수행 9
블록 파라미터의 표시 9
복수 데이터의 표시 11
2.2 동적 시뮬레이션 13
이차 미분방정식 17
선형 상태변수 모델 23
DC 모터의 시뮬레이션 24
함수 블록의 사용 29
차분방정식(difference equation)의 모델링 34
Subsystem(부시스템)의 구성 37
제 2편 : 연구논문
A Haptic Feedback Scheme to Accurately Position a Virtual Wrist
Prosthesis Using a Three-Node Tactor Array
1. Introduction 42
2. Background 43
3. Normal Stimulation Voice Coil Prototype Design 44
4. Experimental Design 45
5. Haptic Feedback Mapping of Virtual Wrist Position 46
6. Results 50
7. Discussion 52
8. Conclusion 55
9. References 56

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