This paper presents a novel finger-worn actuator capable of generating three distinctive haptic effects: static pressure, high-frequency vibration, and an impact. Our new design makes this multi-mode feedback with a single actuator possible in a small form factor. A ring-shaped air bladder made with soft silicone is inflated or deflated to generate feedback on the finger. The airflow is controlled by a pair of air valves connected to a compressed air tank. Besides static pressure, the actuator can generate high-frequency vibration with high acceleration and crisp impact feedback due to fast controllability of the valves with a strong air source and a lightweight bladder membrane. In addition, our special design and fabrication of the bladder-a combination of stretchable and non-stretchable membrane layers in the ring-allows for stronger feedback. Rendering algorithms for three kinds of feedback are also presented. The performance of the system and the characteristics of the feedback are thoroughly examined using a series of measurement experiments, revealing that the system can generate a static force up to 6.3 N, the vibration up to 2.2 g magnitude and 250 Hz frequency, and an impact with less than 5 ms of latency. The whole system weighs only 255 grams (4.5 grams for the actuator and 250 grams for the controller). Finally, we demonstrate the wearability of the system by integrating the modules into a self-contained haptic device in the form of a wristlet.

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Most of the information a user obtains through a computer is visual and/or auditory. Providing synchronized haptic information in addition to visual and/or auditory information can significantly enhance user experience and perception of virtual objects. In this paper, we propose a pneumatically-controlled haptic mouse that can replace a conventional computer mouse and deliver multimodal haptic feedback using a single end-effector. The haptic mouse can deliver distinct haptic feedback, i.e., static pressure, high frequency vibrations, and impact response. It has a dual-layered silicone housing with two air chambers. The outer layer is stretchable, and when pumped with air, changes in size and delivers feedback directly to the hand. The inner layer is non-stretchable, and is used to hold the form of the haptic mouse. Various experiments were conducted to quantify the characteristics of haptic mouse. The haptic mouse can generate a static pressure of up to 0.6 Gs, vibrations up to 250 Hz, and provides a max actuation delay of 23 ms. Based on those characteristics, haptic geometry and texture rendering algorithms were developed. These algorithms were used to render virtual shapes and textures and were evaluated using a psychophysical experiment. The results show that participants were able to successfully identify the geometries and textures in most cases.

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