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Multimodal Fusion Transcutaneous Electrical System for Haptic Feedback

Haptic feedback is one of the important ways to sense surrounding environment. In terms of grasping objects, the haptic feedback assists in improving accuracy and assists man to recognize the shape of object. Thus, restoring haptic feedback of amputee is very meaningful and challengeable. In this paper we present a self-developed transcutaneous electrical nerve stimulator which can stimulate neuromuscular by different waveform, frequency and voltage to generate haptic feedback for the amputee. The stimulator with multiple independent channels can generate up to 8 waveforms per electrode channel and can communicate any device by Bluetooth 4.0 using our custom communication protocol to improve the stimulator reliability. In order to choose the optimal stimulus waveform, frequency, current and location, the PC software have been designed to control the transcutaneous electrical nerve stimulator. We test the transcutaneous electrical nerve stimulator in human test. By questionnaire, pretest results showed that different stimulus location can evoke different figure movements, different stimulus waveforms can evoke different haptic sensation and the human have a same sense when stimulating in the same waveform.