Tactile feedback of object slip improves performance in a grasp and hold task

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Abstract
Electronically controlled prosthetic devices offer more functionality than traditional prostheses, but the lack of haptic feedback makes everyday tasks difficult to perform. This research effort explores the effectiveness of vibratory tactile feedback of slip information for improving performance in object manipulation, specifically for grasping and lifting objects without slipping. A user interacts with a virtual environment via a SensAble Phantom. Force feedback simulates contact with objects, and tactile feedback alerts the user when an object is slipping from grasp. Analysis of the results showed that tactile feedback considerably improved performance when visual feedback was not provided. When participants were not able to see the virtual object slipping, they were able to rely on the vibrating feedback and were alerted about the object slipping. With this information, they were able to recover the virtual object from slips much more frequently than with force feedback alone. These results can be applied to advancements in prosthetic hands, which may include improving dexterity and performance of everyday tasks like drinking a glass of water.

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