A compliance illusion can be created if vibration bursts, which are called friction grains, are provided in response to changes in pressing force on a surface. This method has been used in many human-computer interaction applications. For instance, it can enrich virtual controls on a hand-held device with compliant feeling. One of the limitations of this method, however, is that the friction grains that it uses feel "bumpy" and "buzzing", which may pose a hurdle to the adoption of the method by consumer products where the affective quality of tactile feedback is important. As a solution to overcome this limitation, we examined an alternative compliance illusion method, which computes the time derivative of the force applied by the user, and uses it to modulate a base vibration signal. We conducted a magnitude estimation experiment and were successful in showing that the alternative method with a sinusoidal base vibration signal can create significantly less bumpy, less buzzing, and thereby less unpleasant tactile feedback compared with the grainbased method, while achieving the same level of a compliance illusion effect as the grain-based method.
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