Multimodal Fusion Transcutaneous Electrical System for Haptic Feedback Haptic feedback is one of the important ways to sense surrounding environment. In terms of grasping objects, the haptic feedback assists in improving accuracy and assists man to recognize the shape of object. Thus, restoring haptic feedback of amputee is very meaningful and challengeable. In this paper we present a selfdeveloped transcutaneous electrical nerve stimulator which can stimulate neuromuscular by different waveform, frequency and voltage to generate haptic feedback for the amputee. The stimulator with multiple independent channels can generate up to 8 waveforms per electrode channel and can communicate any device by Bluetooth 4.0 using our custom communication protocol to improve the stimulator reliability. In order to choose the optimal stimulus waveform, frequency, current and location, the PC software have been designed to control the transcutaneous electrical nerve stimulator. We test the transcutaneous electrical nerve stimulator in human test. By questionnaire, pretest results showed that different stimulus location can evoke different figure movements, different stimulus waveforms can evoke different haptic sensation and the human have a same sense when stimulating in the same waveform.

Integration of a Virtual Protheses with a Multichannel Tactile Feedback Interface Tactile feedback is a prime element for improving the amputee ability to interact with different objects. Providing effective sensory feedback to the prostheses is still an unresolved issue. Different approaches had been used to enable bidirectional communication between the prosthesis and the user; however, none could fully replicate the human hand natural sensation. In this regards, we used a 3D virtual hand simulator to communicate the tactile information resulting from hand manipulation. A MATLAB based graphical interface has been developed to control the virtual prosthesis and map tactile sensory data to a multichannel electrotactile stimulation system. Moreover, we presented a spatially coded hand map in accordance with the custom designed electrode array.