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In this paper, we propose a large-area tactile display hy controlling suction pressure. This research is based on our discovery of tactile illusion that pulling a skin through P hole with air suction causes a sensation as if something like a stick is pushing the skin. This illusion implies that our mechanoreceptors are insensitive to the sign of stress (negative or positive), Le. we detect not stress directly but strain energy. There are two key concepts to realize our tactile display. One is the t a d e illusion mentioned above and the other is "multi primitive tactile stimulation." We explain our approach to produce various tactile sensations from a sharp edge to a plane surface with a simple structure of display device based on air pressure control, and report the experimental results.Indor Terms -lactile displq, haptic inreflace, culaneous stimulation, lele-robotics, virtual realiw.

People can feel various tactile feeling by touching and rubbing objects. In this paper, we propose a method to display such tactile feeling of fine texture with reality. We create the feeling by selective stimulation to each kind of mechanoreceptors using elastic transfer property of the skin. Our system is composed of four small magnet tips attached on the hand in a line, which are controlled with precise force. The two driving modes: common phase and reversed phase modes stimulate the deep receptors and shallow receptors in the skin, respectively. The system could give several types of tactile feeling with reality The principle and experimental results are shown.

The forms of communication available now are categorized into the one or three dimensional. One dimensional communication includes metal wires and optical fibers in which the electro-magnetic field is confined in one dimensional medium. Wireless communication based on RF or optical connection emits electro-magnetic field in 3-D space. Now what if we have "two-dimensional communication" in which signals travels from one point to another point freely in elastic two-dimensional space using electromagnetic field confmed in 2-D space? In this paper, we describe such a new technology of 2-D communication brings new paradigm to robotics. The methodologies of machine-design, system-integration, sensing, and computing will be drastically changed. We show architecture of the 2-D signal transmission based on relaying packets between communication chips on a thin sheet, the physical structure of the 2-D signal transmission, the protocols of the signal relay, and the results of the basic experiments.