Spatial localisation of touch on a robotic limb in the absence of direct haptic feedback

Abstract

Artificial limbs typically lack somatosensory receptors, limiting users access to haptic feedback about movement outcomes. However, indirect tactile signals generated during object interaction are transmitted to the body-limb interface and may serve as a haptic feedback source. This study investigates whether such indirect tactile signals convey distinct information that can support localisation of touch on an artificial body part. Using an additional robotic thumb (The Third Thumb, Dani Clode Design), we measured tactile signals at the interface between the Third Thumb and the hand following stimulation from four vibration motors positioned along the Thumb. We then assessed whether participants could discriminate these signals and integrate them with different Thumb postures to spatially localise touch. Measurements showed that each stimulation site produced distinct tactile signatures at the interface. Behaviourally, participants localised touch at above-chance levels. Representational similarity analyses further revealed that performance was best explained by the spatial positions of stimuli, rather than by limb-based coordinates or indirect signal patterns alone, indicating flexible mapping of indirect touch signals onto the Third Thumb posture. Together, these findings demonstrate that indirect tactile signals transmitted through an artificial limb can be discriminated and flexibly remapped to support spatial localisation of touch.