Closed-Loop Vibratory Haptic Feedback in Upper-Limb Prosthetic Users

Chaubey, Pravin MS; Rosenbaum-Chou, Teri PhD; Daly, Wayne CPO, LPO, FAAOP; Boone, David PhD, CP, MPH

JPO Journal of Prosthetics & Orthotics:
doi: 10.1097/JPO.0000000000000030
Original Research Article

ABSTRACT: Sensory feedback, a vital element needed for interaction with the outside world, is largely unavailable for upper-limb amputees with conventional prostheses. The current study investigated four fundamental issues relating to an external vibrotactile stimulation modality for prosthetic hand force feedback: optimal tactor locations on the upper arm, feedback signal type, skin desensitization from mechanical stimulae, and effect on control of grasping force. A total of seven unilateral upper-limb amputees participated in this study. The results demonstrated optimum feedback resolution in the biceps region based on comfort and effectiveness. The average time for the skin to become desensitized to continuous stimulation was 66 seconds. Among different waveforms tested, the sinusoidal waveform was the most effective (p = 0.047). The cognitive loading test results demonstrated an improvement in grasping force due to haptic feedback at 60% of maximum grasping force (p < 0.05). Haptic feedback enhanced grasping force accuracy at specific forces rather than across all forces.

Author Information

PRAVIN CHAUBEY, MS, is affiliated with the Honeywell Inc, Columbus, Ohio.TERI ROSENBAUM-CHOU, PHD; WAYNE DALY, CPO, LPO, FAAOP; and DAVID BOONE, PHD, CP, MPH, are affiliated with the Orthocare Innovations, LLC, Mountlake Terrace, Washington.

Disclosure: The authors declare no conflict of interest.This work was supported by National Institute on Disability and Rehabilitation Research under the Department of Education through grant H133S090044.

Correspondence to: Teri Rosenbaum-Chou, PhD, 6405 218th St SW, Suite 301, Mountlake Terrace, WA 98043; email:

© 2014 by the American Academy of Orthotists and Prosthetists.