TitleThe Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE World Haptics Conference
Date Published06/2017
AuthorsBattaglia, E, Clark, JP, Bianchi, M, Catalano, MG, Bicchi, A, O'Malley, MK
Conference LocationFürstenfeldbruck (Munich), Germany, June 6-9, 2017

Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which can frustrate users and lead to abandonment. To address this problem, we propose to convey proprioceptive information for a prosthetic hand with skin stretch using the Rice Haptic Rocker. This device was integrated with the myo-controlled version of Pisa/IIT SoftHand and a size discrimination test with 18 able bodied subjects was performed to evaluate the effectiveness of the proposed approach. Results show that the Rice Haptic Rocker can be successfully used to convey proprioceptive information. A Likert survey was also presented to the experiment participants, who evaluated the integrated setup as easy to use and effective in conveying proprioception.


The authors gratefully acknowledge Matteo Rossi for his valuable advice and Mikaela Juzswik for her unique contribution in the physical realization of some of the equipment used in the experiments. This work was partially supported by the European Community funded project WEARHAP (contract 601165), by the European Commission project (Horizon 2020 research program) SOFTPRO (no. 688857), by the ERC Advanced Grant no. 291166 SoftHands and by the NSF grant IIS-1065497.

Refereed DesignationRefereed
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