NDLI: User comprehension of task performance with varying impedance in a virtual prosthetic arm: A pilot study

Content Provider	IEEE Xplore Digital Library
Author	Blank, A. Okamura, A.M. Whitcomb, L.L.
Copyright Year	2012
Description	Author affiliation: Dept. of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA (Blank, A.; Okamura, A.M.; Whitcomb, L.L.)
Abstract	Humans' ability to modulate the mechanical impedance of their arms is crucial for adapting the behavior of their arms for use in different tasks. Previous research has shown that user-selectable impedance in prosthetic arms can enable better performance in disparate tasks and changing environments. However, user-selectable impedance is only useful to a prosthesis user if he or she can learn to modulate the impedance effectively. In this paper, we report the results of a pilot study investigating subjects' ability to evaluate their own performance in an interaction task under different impedance levels, with the goal of identifying factors that may affect users' ability to choose effective impedance levels. Subjects controlled a one-degree-of-freedom virtual prosthesis under different stiffness and damping levels to perform an interaction task in which they attempted to minimize contact forces from a virtual environment. We compared subjects' task performance to their perceived difficulty of the task under different impedance conditions. We show that with appropriate training and feedback scaling, subjects are able to evaluate their task performance with both visual and vibrotactile feedback of force information. The results of this study suggest approaches to enabling subjects to choose effective impedance levels for different tasks, and may aid in the development of prostheses and telerobotic systems with user-selectable impedance for more natural and efficient interactions with the environment.
Starting Page	500
Ending Page	507
File Size	550087
Page Count	8
File Format	PDF
ISBN	9781457711992
ISSN	21551774
e-ISBN	9781457712005
DOI	10.1109/BioRob.2012.6290805
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-24
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Force Humans Minimization Trajectory Impedance Prosthetics
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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