Hapcube: a tactile actuator providing tangential and normal pseudo-force feedback on a fingertip

Abstract

We developed a tactile actuator named HapCube that provides tangential and normal pseudo-force feedback on user's fingertip. The tangential feedback is generated by synthesizing two orthogonal asymmetric vibrations, and it simulates frictional force in any desired tangential directions. The normal feedback simulates tactile sensations when pressing various types of button. In addition, by combining the two feedbacks, it can produce frictional force and surface texture simultaneously.