Tesi etd-03212023-143149
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Tipo di tesi
Dottorato
Autore
AL-GHILAN, WALEED MUSTAFA ALI
URN
etd-03212023-143149
Titolo
Transitory sensory feedback for upper-limb prosthesis
Settore scientifico disciplinare
ING-IND/34
Corso di studi
Istituto di Biorobotica - PHD IN BIOROBOTICA
Commissione
relatore CIPRIANI, CHRISTIAN
Membro Prof.ssa CRAIGHERO, LAILA
Membro Prof.ssa CRAIGHERO, LAILA
Parole chiave
- DESC
- Sensory Feedback
- Transitory Sensory Feedback
- Teleoperation
- Prosthesis
- Feedback
- DESC
Data inizio appello
03/07/2023;
Disponibilità
parziale
Riassunto analitico
This thesis explores the role of transitory continuous tactile feedback in prosthetic devices and its potential benefits for manipulation tasks. Our findings suggests that continuous feedback may not be necessary throughout an entire task and may prove more effective with time-discrete feedback in non-routine tasks. The findings have implications for the development of energy-efficient feedback devices in prosthetics and telemanipulation applications. The work also involves the development of a tactile feedback device, as well as an experimental scenario that allows participants to use pre-existing control strategies when operating a robotic hand. Additionally, the thesis explores the augmentation of transient feedback with discrete event-based control (DESC) to provide a more comprehensive understanding of the transitory feedback affects by extending it to the replacement phase of the manipulation task. Overall, this research aims to contribute to the advancement of sensory feedback in prosthetic devices and teleportation.
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