Nowadays, lower-limb prostheses are reaching real-world usability especially on ground-level walking. However, some key tasks such as stair walking are still quite demanding. Providing haptic feedback about the foot placement on the steps might reduce the cognitive load of the task, compensating for increased dependency on vision and lessen the risk of falling. Experiments on intact subjects can be useful to define the feedback strategies prior to clinical trials, but effective methods to assess the efficacy of the strategies are few and usually rely on the emulation of the disability condition. The present study reports on the design and testing of a wearable haptic feedback system in a protocol involving intact subjects to assess candidate strategies to be adopted in clinical trials. The system integrated a sensorized insole wirelessly connected to a textile waist belt equipped with three vibrating motors. Three stimulation strategies for mapping the insole pressure data to vibrotactile feedback were implemented and compared in terms of intuitiveness and comfort perceived during level and stair walking. The strategies were ranked using a relative rating approach, which highlighted the differences between them and suggested guidelines for their improvement. The feedback evaluation procedure proposed could facilitate the selection and improvement of haptic feedback strategies prior to clinical testing.

中文翻译：

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辅助触觉和上楼梯的穿戴式触觉反馈策略的直观性和舒适性评估

如今，下肢假肢已达到实际应用，尤其是在地面行走时。但是，一些关键任务（如楼梯行走）的要求仍然很高。在脚踏板上提供有关脚部位置的触觉反馈可以减少任务的认知负担，补偿对视力的依赖性增加，并降低跌倒的风险。对完整受试者的实验可能有助于在临床试验之前确定反馈策略，但是评估策略有效性的有效方法很少，并且通常依赖于对残疾状况的模仿。本研究报告了在涉及完整受试者的协议中设计和测试可穿戴触觉反馈系统，以评估将在临床试验中采用的候选策略。该系统集成了带传感器的鞋垫，该鞋垫无线连接到配备了三个振动马达的纺织腰带。实施了三种刺激策略，用于将鞋垫压力数据映射到触觉反馈，并根据在水平和楼梯行走过程中感觉到的直观性和舒适性进行了比较。使用相对评级方法对策略进行了排名，该方法突出了它们之间的差异并提出了改进建议。提出的反馈评估程序可以促进临床测试之前选择和改进触觉反馈策略。实施了三种刺激策略，用于将鞋垫压力数据映射到触觉反馈，并根据在水平和楼梯行走过程中感觉到的直观性和舒适性进行了比较。使用相对评级方法对策略进行排名，该策略突出了它们之间的差异并提出了改进策略的指南。提出的反馈评估程序可以促进临床测试之前选择和改进触觉反馈策略。实施了三种刺激策略，用于将鞋垫压力数据映射到触觉反馈，并根据在水平和楼梯行走过程中感觉到的直观性和舒适性进行了比较。使用相对评级方法对策略进行了排名，该方法突出了它们之间的差异并提出了改进建议。提出的反馈评估程序可以促进临床测试之前选择和改进触觉反馈策略。