This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual characterization with eleven able-bodied participants as well as two experiments of discrimination and manipulation task hiring a total of 32 participants. In both the experiments the CUFF was used in conjunction with the Pisa/IIT SoftHand. The first experiment was a discrimination task where the subjects had to recognize the dimension and the softness between pair of cylinder. in the second experiment the subjects were asked to control the robotic hand for grasping objects. After the experiments the subjects underwent to a subjective evaluation of the device. Results of the experiments and questionnaire showed the effectiveness of the proposed device. Thank to its versatility and structure, the device could be a viable solution for teleoperation application, guidance and rehabilitation tasks, including prosthesis applications.

翻译：本文介绍了一种可穿戴触觉设备的设计、表征与验证，该设备能够向用户手臂传递皮肤拉伸、力觉反馈以及二者的组合信号。研究中，我们对11名健全受试者进行了物理与感知表征，并开展了包含32名受试者的两项辨别与操作实验。两项实验中，CUFF均与Pisa/IIT SoftHand联合使用。第一项实验为辨别任务，受试者需识别圆柱体对的尺寸与软硬度；第二项实验中，受试者需控制机械手完成抓取操作。实验后，受试者对该设备进行了主观评价。实验结果与问卷调查表明，该设备具有显著有效性。凭借其灵活性与结构优势，该设备可望成为遥操作、引导与康复任务（包括假肢应用）的可行解决方案。