Tactile Texture Display with Vibrotactile and Electrostatic Friction Stimuli Mixed at Appropriate Ratio Presents Better Roughness Textures

Abstract

Vibrotactile and friction texture displays are good options for artificially presenting the roughness and frictional properties of textures, respectively. These two types of displays are compatible with touch panels and exhibit complementary characteristics. We combine vibrotactile and electrostatic friction texture displays to improve the quality of virtual textures, considering that actual textured surfaces are composed of both properties. We investigate their composition ratios when displaying roughness textures. Grating roughness scales with one of the six surface wavelengths are generated under 11 display conditions, and in 9 of which, vibrotactile and friction stimuli are combined with different composition ratios. A forced-choice experiment regarding subjective realism indicates that a vibrotactile stimulus with a slight variable-friction stimulus is effective for presenting quality textures for surface wavelengths greater than or equal to 1.0mm. CCS Concepts: • Human-centered computing → Laboratory experiments; Empirical studies in HCI; • Hardware → Haptic devices;

Wearable Soft Technologies for Haptic Sensing and Feedback

“…[ 234–236 ] The most common technologies for tactile texture are ultrasonic piezoelectric actuators and electro‐adhesion actuators. [ 237–239 ] It would be interesting to make these technologies soft and wearable to provide texture feedback when holding virtual objects. This could help to differentiate virtual surfaces and enrich the virtual world.…”

Touch, Texture and Haptic Feedback: A Review on How We Feel the World around Us

“…The previously mentioned Dextres, aside from generating kinesthetic feedback, also incorporates cutaneous feedback in the form of vibrations from a piezovibe, which is described as a series of resonating piezoelectric beams [93]. Different research has also combined visual and haptic feedback by showing different textures through a vibration/friction highlighting its possible use in mimicking texture [124,125]. Vibrotactile stimulation, while simple and easy to implement, is, however, very limited in the types of stimulation that it can achieve, hence why it is generally paired with other feedback systems instead [90,93].…”

Characterization of an Electrode-Type Tactile Display Using Electrical and Electrostatic Friction Stimuli

“…Therefore, in order to reproduce more realistic tactile senses, each tactile stimulus must be independently controlled and provided. Considering that roughness and friction are independently perceived, and that surface textures are determined by roughness and friction [ 22 , 23 , 24 , 25 , 26 , 27 ], we have focused on the presentation of vibration, which is related to roughness, and on the presentation of friction.…”

“…Our tactile display can provide both an electrical stimulus and an electrostatic friction stimulus while controlling the roughness reproduced by the electrical stimulus and the electrostatic friction stimulus independently. Ito et al proposed a similar integrated tactile display using vibrations generated by a mechanical actuator and the friction generated by an electrostatic force [ 27 ]. However, their tactile display was bulky, and its stimulus resolution was poor.…”