2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
DOI: 10.1109/iros.2009.5353992
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Haptic device using flexible sheet and air jet for presenting virtual lumps under skin

Abstract: A haptic device using flexible sheet and air jet is proposed. This device presents haptic sensation of virtual lumps under skin to user's finger. A tensioned flexible sheet is regarded as virtual skin. A user touches the sheet directly with his finger. Then he feels the softness of normal skin as the sheet compliance. A nozzle fires thin beam of air jet to the sheet from its back, when the user touches the sheet at the location of a virtual lump. The fingertip feels the small hard part made by the air jet thro… Show more

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Cited by 16 publications
(7 citation statements)
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“…Moreover, the user needs to handle an end-effector in order to interact with the air jets. Thereafter, Inoue et al [11] proposed to use a flexible sheet driven by an air jet. This approach provides a virtual haptic sensation of lumps under the user's fingers.…”
Section: Related Workmentioning
confidence: 99%
“…Moreover, the user needs to handle an end-effector in order to interact with the air jets. Thereafter, Inoue et al [11] proposed to use a flexible sheet driven by an air jet. This approach provides a virtual haptic sensation of lumps under the user's fingers.…”
Section: Related Workmentioning
confidence: 99%
“…A very different approach was proposed by Inoue et al [21], in which a single nozzle directs a high-flow air jet onto a flexible membrane beneath the finger pad. Here, the term "air jet" describes air flowing from a nozzle over some distance until it impinges on the membrane.…”
Section: Introductionmentioning
confidence: 99%
“…Devices for presenting virtual haptic sense are called haptic devices [1][2][3][4][5][6][7][8][9][10]. One of medical applications of haptic devices will be a training simulator of palpation [11].…”
Section: Introductionmentioning
confidence: 99%