Characterizing the human wrist for improved haptic interaction

Katherine J. Kuchenbecker, June Gyu Park, Günter Niemeyer

Research output: Contribution to conferencePaperpeer-review


Haptic displays provide the user with a sense of touch in both simulation of virtual environments and teleoperation of remote robots. The instantaneous impedance of the user's hand affects this force interaction, changing the transients experienced during activities such as exploratory tapping. This research characterizes the behavior of the human wrist joint while holding a stylus in a three-fingered grasp. Nonparametric identification methods, evaluating frequency- and time-responses, support a second-order system model. Further analysis shows a positive linear correlation between grip force and wrist impedance for all subjects, though each individual's trend is unique. These findings suggest that a quick calibration procedure and a real-time grip force measurement could enable a haptic display to predict user response characteristics throughout an interaction. Such knowledge would enable haptic control algorithms to adapt continuously to the user's instantaneous state for improved performance.

Original languageEnglish
Number of pages8
Publication statusPublished - 2003
Event2003 ASME International Mechanical Engineering Congress - Washington, DC., United States
Duration: 2003 Nov 152003 Nov 21


Conference2003 ASME International Mechanical Engineering Congress
Country/TerritoryUnited States
CityWashington, DC.

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Software


Dive into the research topics of 'Characterizing the human wrist for improved haptic interaction'. Together they form a unique fingerprint.

Cite this