Full Content is available to subscribers

Subscribe/Learn More  >

Enhancing Haptic Effects Displayed via Neuromuscular Electrical Stimulation

[+] Author Affiliations
Maxwell Harris, Mitchell McCarty, Andre Montes, Ozkan Celik

Colorado School of Mines, Golden, CO

Paper No. DSCC2016-9823, pp. V001T07A003; 8 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


This paper presents an experimental setup and results on enhancing sensations of a common haptic effect -a virtual wall-induced via neuromuscular electrical stimulation (NMES). A single degree of freedom (DOF) elbow platform with position sensing was constructed. This platform supports the arm in the horizontal plane while elbow flexion and extension torques are generated by stimulation of triceps brachii or the biceps brachii muscles. The response of the system was experimentally characterized by determining the latency, and the relationship between stimulation pulse width, stimulation current, joint position and generated output torques. After system characterization, stimulation control methods to enhance haptic sensations were designed, implemented and pilot tested under a variety of virtual wall hit scenarios. Our results indicate that the wall hit trajectories and interaction were improved by control laws that initiated low intensity stimulation prior to the wall hit and utilized co-contraction for damping. The “priming” of the muscle with low intensity stimulation prior to the main stimulation improved the responsiveness of muscle contractions.

Copyright © 2016 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In