Abstract. This paper introduces the MasterFinger developemt and application, a multi-finger haptic interface for virtual object manipulation. This haptic device, with a modular interface, is specially designed to perform collaborative tasks. Each module is in charge of managing the haptic interaction with a finger. The mechanical structure of the module is based on a serial-parallel structure linked to the finger thimble by a gimble with its own controller. Cooperative applications based on MasterFinger-2 (MF2) are also described in this study. Results from these applications show that multifinger interface is a significant leap in haptic devices since precise object grasping and collaborative manipulation by using two hands are successfully performed.

Abstract. This paper describes an experiment that studies the effect of basic haptic feedback in creating a sense of social interaction within a shared virtual environment (SVE). Although there have been a number of studies investigating the effect of haptic feedback on collaborative task performance, they do not address the effect it has in inducing social presence. The purpose of this experiment is to show that haptic feedback enhances the sense of social presence within a mediated environment. An experiment was carried out using a shared desktop based virtual environment where 20 remotely located couples who did not know one another had to solve a puzzle together. In 10 groups they had shared haptic communication through their hands, and in another group they did not. Hence the haptic feedback was not used for completing the task itself, but rather as a means of social interacting -communicating with the other participant. The results suggest that basic haptic feedback increases the sense of social presence within the shared VE.

Tactile displays can provide detailed spatial information to the skin, but little is known about the effects of vibrating displayed shapes. This study examines passive touch perception of flat and indented surfaces displayed on a 36 pin tactile display with 2 mm pin pitch. Subjects could not perceive a 0.1 mm deep central indentation when it was presented statically, but it was readily detected when the pattern was vibrated at 5 Hz. A central raised bar was incorrectly perceived as indented when the adjacent pins were vibrated, which is consistent with the "fishbone tactile illusion" (Nakatani et al., Proc. EuroHaptics 2006). These results suggest that tactile display devices can use vibrational stimulus to enhance perception of small differences in height.

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