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Haptics of Pulse Palpation: Simulation and Validation Through Novel Sensor-Actuator System
IEEE Transactions on Haptics
|August 29, 2025
Summary
This study quantifies arterial forces during palpation, revealing significant shear forces beyond normal interactions. Findings advance haptic feedback systems for simulating arterial pulse dynamics.
Area of Science:
- Biomedical Engineering
- Haptics
- Physiology
Background:
- Arterial palpation is crucial for physiological assessment.
- Current pulse actuators often neglect shear forces, focusing only on normal forces.
- Understanding arterial wall dynamics during blood flow is key.
Purpose of the Study:
- To evaluate normal, longitudinal, and transverse forces during arterial palpation.
- To develop and validate a sensor-actuator system for measuring these forces.
- To compare force interactions in soft vs. hard artery models and human subjects.
Main Methods:
- Theoretical and experimental analyses of arterial forces.
- Utilized a hydroelectromagnetic actuator and the Subblescope sensor system.
- Tested on soft/hard artery models and radial pulses from 18 human subjects.
Main Results:
- Operational range of the sensor-actuator system: 0.005 N to 2.5 N.
- Measured reactive forces: Z-axis (19.3-500 mN), Y-axis (6.9-88.01 mN), X-axis (5.46-87.85 mN).
- Hard artery models exhibited greater 3D force interactions than soft models.
Conclusions:
- Hydroelectromagnetic actuators can generate both normal and shear forces for realistic pulse simulation.
- The study provides a foundation for creating haptic training modules for various physiological conditions.
- Accurate force measurement is essential for replicating complex arterial pulse haptics.
