A tactile-haptic display system using micro-actuator array

Abstract

The authors have developed a multi-modal display capable of stimulating muscles and tendons of the forearms and tactile receptors in fingers to investigate the effects on the presentation of tactile-haptic reality. The system comprises a master hand having two sets of tactile display with a 4-by-6 array of stimulus pins driven by micro-actuator array and an articulated manipulator. To evaluate the haptic display's presentation capability, we performed two series of experiments. In Experiment A, human subjects grasped virtual pegs and they judged their diameters. In Experiment B, the human subjects tried to insert the pegs into a hole. We evaluated the presentation capability of the display on the basis of judgement precision of the peg's diameter and variation in inclination of the peg. Since diameter discrimination and insertion precision of the virtual peg were increased by tactile information, tactile-haptics presentation was effective for the peg-in-hole in the case of relatively large clearance.

Design and realization of a novel haptic graspable interface for augmenting touch sensations

“…Moreover, most participants were excited and stated that they felt as if they were interacting with the natural environment and remarked that the virtual experience enhanced the rendered haptic feedback. At the same time, a couple of participants suggested improving the naturality of textures generated through vibro-actuation but were delighted with this experience compared to existing haptic/vibrotactile controllers ( Ohka et al, 2005 ; Sun et al, 2018 ; Whitmire et al, 2018 ).…”

“…In ( Schorr and Okamura, 2017 ; Lee et al, 2019 ), a 3-DoF device is developed to convey lateral and normal forces of virtual objects. In ( Ohka et al, 2005 ), large pressure strokes are provided by varying the pin matrix heights. However, the display resolution is limited because of the actuators’ spatial density.…”