dc.contributor.advisor | Mathisen, Geir | |
dc.contributor.advisor | Fougner, Anders | |
dc.contributor.advisor | Stavdahl, Øyvind | |
dc.contributor.author | Andresen, Jon Eirik Lisle | |
dc.date.accessioned | 2019-10-31T15:12:44Z | |
dc.date.issued | 2019 | |
dc.identifier | no.ntnu:inspera:35771502:15778674 | |
dc.identifier.uri | http://hdl.handle.net/11250/2625757 | |
dc.description.abstract | I samarbeid med det norske selskapet Hy5 utforskes haptisk tilbakekobling for deres h°andprotese
i denne oppgaven. Rapportens første deler er et litteraturstudie og en teoridel hvor haptisk
tilbakekobling, menneskelig bevegelsesstyring og berøringssans presenteres. Det er
basert p°a disse funnene, og et fordypningsprosjekt, se Appendix D, at et system for haptisk
tilbakekobling beskrives, konstrueres, delvis monteres p°a en Hy5 h°andprotese, programmeres
og testes.
Selv om det resulterende systemet gir innsikt og danner en vei videre for videre studier
oppn°as ikke flere av kravene satt til system. Hovedkilden til problemene var kraftsensorenes
svake ytelse etter integrering med h°andprotesen. Videre arbeid omfatter bedre
kraftdeteksjon, spesielt ved sm°a kontaktkrefter, og mer funksjonell tesing i mer realistiske
settinger. | |
dc.description.abstract | In cooperation with the Norwegian company Hy5, haptic feedback for their prosthetic hand
is explored in this thesis. The first parts of the paper are a literature review and a theory
section presenting haptic feedback, human motor control and tactile sensation. Based on
those findings, and a previous specialisation project, see Appendix D, a haptic feedback
system is proposed, assembled, partially mounted on a Hy5 hand, programmed and tested.
While the resulting system provides insights and a stepping stone for future research, several
of the system requirements were not meet. The main source of system failure was
the poor performance of the force sensors when integrated with with the prosthetic hand.
Future work includes ensuring better force sensing, particularly at low contact forces, and
more functional testing in more realistic settings. | |
dc.language | eng | |
dc.publisher | NTNU | |
dc.title | Haptic Feedback for Hydraulic Hand Prosthesis | |
dc.type | Master thesis | |