A Miniature Tactor Design for Upper Extremity Prosthesis

We have been developing a miniature haptic device -a tactor -that can display pressure, vibration, shear force, and temperature to the skin of upper extremity amputees, especially those who have undergone targeted nerve reinnervation (TRI) surgery. In TRI patients, regions of the reinnervated skin are perceived as being on the phantom hand. This paper presents the mechanical design of the tactor.