This paper presents a novel cutaneous deviceudcapable of providing independent skin stretches at the palmar,uddorsal, ulnar, and radial sides of the arm. It consists ofuda lightweight bracelet with four servo motors. Each motorudactuates a cylindrical shaped end-effector that is able to rotate,udgenerating skin stretch stimuli. To understand how to controludand wear the device on the forearm to evoke the most effectiveudcutaneous sensations, we carried out perceptual experimentsudevaluating its absolute and differential thresholds. Finally, weudcarried out an experiment of haptic navigation to assess theudeffectiveness of our device as a navigation feedback system toudguide a desired rotation and translation of the forearm. Resultsuddemonstrate an average rotation and translation error of 1.87○udand 2.84 mm, respectively. Moreover, all the subjects found ouruddevice easy to wear and comfortable. Nine out of ten found itudeffective in transmitting navigation information to the forearm.
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