{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T14:32:03Z","timestamp":1792593123540,"version":"4.5.0"},"reference-count":50,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,12,13]],"date-time":"2023-12-13T00:00:00Z","timestamp":1702425600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Neurorobot."],"abstract":"<jats:sec><jats:title>Introduction<\/jats:title><jats:p>Either non-invasive somatotopic or substitute sensory feedback is capable of conveying a single modality of sensory information from prosthetic hands to amputees. However, the neurocognitive ability of amputees to integrate multi-modality sensory information for functional discrimination is unclear. The purpose of this study was to assess the fusion of non-invasive somatotopic tactile and substitute aperture feedbacks for profile perception of multiple physical features during grasping objects.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>Two left transradial amputees with somatotopic evoked tactile sensation (ETS) of five fingers participated in the study. The tactile information of prosthetic hand was provided to amputees by the ETS feedback elicited on the stump projected finger map. Hand aperture information was conveyed to amputees with substitute electrotactile stimulation on the forearm or upper arm. Two types of sensory feedback were integrated to a commercial prosthetic hand. The efficacy of somatotopic ETS feedback on object length identification task was assessed with or without substitute aperture stimulation. The object size identification task was utilized to assess how ETS stimulation at the stump may affect aperture perception with stimulation on the ipsilateral upper arm or forearm. Finally, the task of identifying combined length and size was conducted to evaluate the ability of amputees to integrate the dual modalities of sensory feedback for perceiving profile features.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The study revealed that amputee subjects can effectively integrate the ETS feedback with electrotactile substitutive feedback for object profile discrimination. Specifically, ETS was robust to provide object length information with electrotactile stimulation at either the forearm or upper arm. However, electrotactile stimulation at the upper arm for aperture perception was less susceptible to the interference of ETS stimulation than at the forearm.<\/jats:p><\/jats:sec><jats:sec><jats:title>Discussion<\/jats:title><jats:p>Amputee subjects are able to combine somatotopic ETS and aperture feedbacks for identifying multi-dimensional features in object profiling. The two sensory streams of information can be fused effectively without mutual interference for functional discrimination.<\/jats:p><\/jats:sec>","DOI":"10.3389\/fnbot.2023.1298176","type":"journal-article","created":{"date-parts":[[2023,12,13]],"date-time":"2023-12-13T04:40:58Z","timestamp":1702442458000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Fusion of dual modalities of non-invasive sensory feedback for object profiling with prosthetic hands"],"prefix":"10.3389","volume":"17","author":[{"given":"Jie","family":"Zhang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chih-Hong","family":"Chou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Manzhao","family":"Hao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yashuo","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ning","family":"Lan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2023,12,13]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"702","DOI":"10.2340\/16501977-1001","article-title":"Sensory feedback from a prosthetic hand based on air-mediated pressure from the hand to the forearm skin","volume":"44","author":"Antfolk","year":"2012","journal-title":"J. Rehabil. Med"},{"key":"B2","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1586\/erd.12.68","article-title":"Sensory feedback in upper limb prosthetics","volume":"10","author":"Antfolk","year":"2013","journal-title":"Expert Rev. Med. Devices"},{"key":"B3","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1097\/00008526-199600810-00003","article-title":"Epidemiologic overview of individuals with upper-limb loss and their reported research priorities","volume":"8","author":"Atkins","year":"1996","journal-title":"J. Prosthet. Orthot"},{"key":"B4","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1038\/s41551-020-00630-8","article-title":"Restoration of sensory information via bionic hands","volume":"7","author":"Bensmaia","year":"2020","journal-title":"Nat. Biomed. Eng."},{"key":"B5","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1080\/03093640600994581","article-title":"Upper limb prosthesis use and abandonment: a survey of the last 25 years","volume":"31","author":"Biddiss","year":"2007","journal-title":"Prosthet. Orthot. Int"},{"key":"B6","doi-asserted-by":"publisher","first-page":"62","DOI":"10.1016\/j.bios.2010.05.010","article-title":"A transverse intrafascicular multichannel electrode (TIME) to interface with the peripheral nerve","volume":"26","author":"Boretius","year":"2010","journal-title":"Biosens. Bioelectron"},{"key":"B7","first-page":"1805","article-title":"\u201cElectrotactile feedback with spatial and mixed coding for object identification and closed-loop control of grasping force in myoelectric prostheses,\u201d","volume-title":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society","author":"Chai","year":"2019"},{"key":"B8","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/12\/6\/066002","article-title":"Characterization of evoked tactile sensation in forearm amputees with transcutaneous electrical nerve stimulation","author":"Chai","year":"2015","journal-title":"J. Neural Eng"},{"key":"B9","doi-asserted-by":"publisher","first-page":"857","DOI":"10.1113\/jphysiol.1996.sp021733","article-title":"Movement illusions evoked by ensemble cutaneous input from the dorsum of the human hand","volume":"496","author":"Collins","year":"1996","journal-title":"J. Physiol"},{"key":"B10","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1038\/s41598-017-11306-w","article-title":"A somatotopic bidirectional hand prosthesis with transcutaneous electrical nerve stimulation based sensory feedback","author":"D'Anna","year":"2017","journal-title":"Sci Rep"},{"key":"B11","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau8892","article-title":"A closed-loop hand prosthesis with simultaneous intraneural tactile and position feedback","author":"D'Anna","year":"2019","journal-title":"Sci Rob."},{"key":"B12","doi-asserted-by":"publisher","first-page":"429","DOI":"10.3758\/CABN.8.4.429","article-title":"Decision theory, reinforcement learning, and the brain","volume":"8","author":"Dayan","year":"2008","journal-title":"Cogn. Affect. Behav. Neurosci"},{"key":"B13","doi-asserted-by":"publisher","first-page":"468","DOI":"10.1109\/TNSRE.2005.856072","article-title":"Direct neural sensory feedback and control of a prosthetic arm","volume":"13","author":"Dhillon","year":"2005","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng"},{"key":"B14","doi-asserted-by":"publisher","first-page":"657","DOI":"10.1152\/jn.1991.65.3.657","article-title":"Finger movement responses of cutaneous mechanoreceptors in the dorsal skin of the human hand","volume":"65","author":"Edin","year":"1991","journal-title":"J. Neurophysiol"},{"key":"B15","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1113\/jphysiol.1995.sp020875","article-title":"Skin strain patterns provide kinaesthetic information to the human central nervous system","volume":"487","author":"Edin","year":"1995","journal-title":"J. Physiol"},{"key":"B16","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0044-2","article-title":"Surveying the interest of individuals with upper limb loss in novel prosthetic control techniques","author":"Engdahl","year":"2015","journal-title":"J. Neuroeng. Rehabil"},{"key":"B17","doi-asserted-by":"publisher","first-page":"429","DOI":"10.1038\/415429a","article-title":"Humans integrate visual and haptic information in a statistically optimal fashion","volume":"415","author":"Ernst","year":"2002","journal-title":"Nature"},{"key":"B18","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.tics.2004.02.002","article-title":"Merging the senses into a robust percept","volume":"8","author":"Ernst","year":"2004","journal-title":"Trends Cognit. Sci"},{"key":"B19","doi-asserted-by":"publisher","first-page":"284","DOI":"10.1037\/h0036331","article-title":"Human information processing and sensory modality: cross-modal functions, information complexity, memory, and deficit","volume":"81","author":"Freides","year":"1974","journal-title":"Psychol. Bull"},{"key":"B20","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax2352","article-title":"Biomimetic sensory feedback through peripheral nerve stimulation improves dexterous use of a bionic hand","author":"George","year":"2019","journal-title":"Sci. Robot"},{"key":"B21","doi-asserted-by":"publisher","first-page":"98","DOI":"10.1109\/OJEMB.2020.2981566","article-title":"Restoring finger-specific sensory feedback for transradial amputees via non-invasive evoked tactile sensation","volume":"1","author":"Hao","year":"2020","journal-title":"IEEE Open J. Eng. Med. Biol"},{"key":"B22","doi-asserted-by":"publisher","first-page":"483","DOI":"10.1109\/TNSRE.2011.2162635","article-title":"Object discrimination with an artificial hand using electrical stimulation of peripheral tactile and proprioceptive pathways with intrafascicular electrodes","volume":"19","author":"Horch","year":"2011","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng"},{"key":"B23","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1038\/nrn2621","article-title":"Coding and use of tactile signals from the fingertips in object manipulation tasks","volume":"10","author":"Johansson","year":"2009","journal-title":"Nat. Rev. Neurosci"},{"key":"B24","doi-asserted-by":"publisher","DOI":"10.1093\/acprof:oso\/9780195173154.001.0001","article-title":"Human hand function","author":"Jones","year":"2006","journal-title":"Politics"},{"key":"B25","volume-title":"Principles of Neural Science","author":"Kandel","year":"1999"},{"key":"B26","doi-asserted-by":"publisher","first-page":"299","DOI":"10.3758\/BF03211351","article-title":"Identifying objects by touch: an \u201cexpert system.\u201d","volume":"37","author":"Klatzky","year":"1985","journal-title":"Percept. Psychophys"},{"key":"B27","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1109\/TNSRE.2004.831491","article-title":"Acute peripheral nerve recording characteristics of polymer-based longitudinal intrafascicular electrodes","volume":"12","author":"Lawrence","year":"2004","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng"},{"key":"B28","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1109\/NER49283.2021.9441249","article-title":"\u201cA pilot study of multi-site simultaneous stimulation for tactile and opening information feedback in the prosthetic hand,\u201d","author":"Li","year":"2021","journal-title":"2021 10th International IEEE\/EMBS Conference on Neural Engineering (NER)"},{"key":"B29","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abf3368","article-title":"Neurorobotic fusion of prosthetic touch, kinesthesia, and movement in bionic upper limbs promotes intrinsic brain behaviors","author":"Marasco","year":"2021","journal-title":"Sci Robot"},{"key":"B30","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-071020-104336","article-title":"Current solutions and future trends for robotic prosthetic hands","author":"Mendez","year":"2021","journal-title":"Annu. Rev. Control Robot. Auton. Syst"},{"key":"B31","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.3008933","article-title":"An osseointegrated human-machine gateway for long-term sensory feedback and motor control of artificial limbs","author":"Ortiz-Catalan","year":"2014","journal-title":"Sci. Transl. Med"},{"key":"B32","doi-asserted-by":"publisher","first-page":"428","DOI":"10.1109\/TNSRE.2009.2032603","article-title":"Stimulation stability and selectivity of chronically implanted multicontact nerve cuff electrodes in the human upper extremity","volume":"17","author":"Polasek","year":"2009","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng"},{"key":"B33","doi-asserted-by":"publisher","first-page":"1651","DOI":"10.1152\/physrev.00048.2011","article-title":"The proprioceptive senses: their roles in signaling body shape, body position and movement, and muscle force","volume":"92","author":"Proske","year":"2012","journal-title":"Physiol. Rev"},{"key":"B34","doi-asserted-by":"publisher","first-page":"222r","DOI":"10.1126\/scitranslmed.3006820","article-title":"Restoring natural sensory feedback in real-time bidirectional hand prostheses","volume":"6","author":"Raspopovic","year":"2014","journal-title":"Sci. Transl. Med."},{"key":"B35","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-022-24640-5","article-title":"Texture recognition based on multi-sensory integration of proprioceptive and tactile signals","author":"Rostamian","year":"2022","journal-title":"Sci. Rep"},{"key":"B36","doi-asserted-by":"publisher","first-page":"e0207659","DOI":"10.1371\/journal.pone.0207659","article-title":"Artificial tactile and proprioceptive feedback improves performance and confidence on object identification tasks","volume":"13","author":"Schiefer","year":"2018","journal-title":"PLoS ONE"},{"key":"B37","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-020-62970-4","article-title":"Combination of simultaneous artificial sensory percepts to identify prosthetic hand postures: a case study","author":"Segil","year":"2020","journal-title":"Sci. Rep"},{"key":"B38","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/8\/4\/045004","article-title":"Long term in vitro functional stability and recording longevity of fully integrated wireless neural interfaces based on the Utah Slant Electrode Array","author":"Sharma","year":"2011","journal-title":"J. Neural Eng"},{"key":"B39","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aabd5d","article-title":"Evoked haptic sensations in the hand via non-invasive proximal nerve stimulation","author":"Shin","year":"2018","journal-title":"J. Neural Eng"},{"key":"B40","doi-asserted-by":"publisher","first-page":"2133","DOI":"10.1109\/TNSRE.2017.2712287","article-title":"Short- and long-term learning of feedforward control of a myoelectric prosthesis with sensory feedback by amputees","volume":"25","author":"\u0160trbac","year":"2017","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng"},{"key":"B41","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/ac4e1b","article-title":"Towards optimizing the non-invasive sensory feedback interfaces in a neural prosthetic control","author":"Su","year":"2022","journal-title":"J. Neural Eng"},{"key":"B42","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1109\/TBME.1982.324948","article-title":"Electrocutaneous stimulation for sensory communication in rehabilitation engineering","volume":"29","author":"Szeto","year":"1982","journal-title":"IEEE Trans. Biomed. Eng"},{"key":"B43","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.3008669","article-title":"neural interface provides long-term stable natural touch perception","author":"Tan","year":"2014","journal-title":"Sci. Transl. Med"},{"key":"B44","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.00287","article-title":"Hand control with invasive feedback is not impaired by increased cognitive load","author":"Valle","year":"2020","journal-title":"Front. Bioeng. Biotechnol"},{"key":"B45","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1109\/LRA.2021.3122897","article-title":"Object recognition via evoked sensory feedback during control of a prosthetic hand","volume":"1","author":"Vargas","year":"2021","journal-title":"IEEE Robot Autom. Lett."},{"key":"B46","doi-asserted-by":"publisher","first-page":"687","DOI":"10.1016\/B978-0-12-816034-3.00021-3","article-title":"Sensory information feedback for neural prostheses","author":"Weber","year":"2020","journal-title":"Biomed. Inform. Technol."},{"key":"B47","doi-asserted-by":"publisher","first-page":"3869","DOI":"10.1109\/EMBC44109.2020.9175756","article-title":"An experimental protocol for evaluating pulse width modulation ranges of evoked tactile sensory feedback in amputees","volume":"2020","author":"Yang","year":"2020","journal-title":"Annu. Int. Conf. IEEE Eng. Med. Biol. Soc"},{"key":"B48","first-page":"118","article-title":"\u201cDevelopment of myoelectric control module for prosthetic hand with artifact removal during sensory electrical stimulation,\u201d","author":"Yu","year":"2022","journal-title":"2022 15th International Joint Conference on Biomedical Engineering Systems and Technologies"},{"key":"B49","article-title":"\u201cNon-invasive stable sensory feedback for closed-loop control of hand prosthesis,\u201d","author":"Zhang","year":"","journal-title":"2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). Scottish Event Campus, Glasgow, UK: 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)"},{"key":"B50","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/ac6062","article-title":"Evaluation of multiple perceptual qualities of transcutaneous electrical nerve stimulation for evoked tactile sensation in forearm amputees","author":"Zhang","year":"","journal-title":"J. Neural Eng"}],"container-title":["Frontiers in Neurorobotics"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2023.1298176\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,13]],"date-time":"2023-12-13T04:41:03Z","timestamp":1702442463000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2023.1298176\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,13]]},"references-count":50,"alternative-id":["10.3389\/fnbot.2023.1298176"],"URL":"https:\/\/doi.org\/10.3389\/fnbot.2023.1298176","relation":{},"ISSN":["1662-5218"],"issn-type":[{"value":"1662-5218","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,13]]},"article-number":"1298176"}}