Trans-radial amputee subjects were implanted with intrafascicular electrodes in the stumps of the median and ulnar nerves. Electrical stimulation through these electrodes was used to provide sensations of touch and finger position referred to the amputated hand. Two subjects were asked to identify different objects as to size and stiffness by manipulating them with a myo-electric hand without visual or auditory cues. Both subjects were provided with information about contact force with the objects via tactile sensations referred to their phantom hands. One subject, who was provided with information about finger position in the prosthetic hand via a different tactile sensation referred to his phantom hand, was unable to correctly identify the objects. The other subject, who received information about finger position via a proprioceptive sensation referred to his phantom hand, correctly identified the objects at a level statistically significantly above chance performance.

This paper presents the idea of a tangible simulation: a computer simulation along with a coupled custom robotic interface that provides a physical representation of the simulation state and a tangible means of controlling key simulation parameters. The tangible simulation concept is prototyped in a three-body gravitational simulation using two haptic arm devices. Interface concepts for controlling planetary position and velocity along with changing simulation parameters such as simulation time step are demonstrated. The final system is able to explore and control the coupled computer simulation through the tangible simulation interface.

The feasibility of large network inertial measurement units (IMUs) are evaluated for purposes requiring feedback. A series of wireless IMUs were attached to a human lower-limb laboratory model outfitted with joint angle encoders. The goal was to discover if large networks of wireless IMUs can give realtime joint orientation data while still maintaining an acceptable degree of accuracy.