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. In this article, 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.

中文翻译：

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一种在达到任务中将触觉滑动和手部运动解耦的新型设备：HaptiTrack 设备

伸手是一项复杂的任务，需要整合来自肌肉、关节和皮肤的多种感觉信息，以及运动指令的内部模型。最近的神经科学研究强调了触摸在达到目标时控制手部运动的重要作用。在本文中，展示了一种新颖的设备 HaptiTrack 设备，用于物理分离触觉滑动运动和手部运动。新设备生成接触板的精确控制的 2D 运动，测量接触力，并通过外部跟踪系统提供手和手指的跟踪。通过本手稿中描述的控制算法，触觉滑动的速度可以独立于设备表面上手滑动的速度而改变。由于这些多重特征，