A Novel Device Decoupling Tactile Slip and Hand Motion in Reaching Tasks: The HaptiTrack Device

Hand reaching is a complex task that requires the integration of multiple sensory information from muscle, joints and the skin, and an internal model of the motor command. Recent studies in neuroscience highlighted the important role of touch for the control of hand movement while reaching for a target. We present a novel device, the HaptiTrack device, to physically decouple tactile slip motion and hand movements. The new device generates precisely controlled 2D motion of a contact plate, measures contact forces, and provides hand and finger tracking through an external tracking system. By means of a control algorithm described in this manuscript, the velocity of tactile slip can be changed independently from the velocity of the hand sliding on the device's surface. Due to these multiple features, the device can be a powerful tool for the evaluation of tactile sense during hand reaching movements in healthy and pathological conditions.