Developing a small-size wearable tactile device to simulate friction, compliance, and texture

Abstract

In this research, we developed a small-size three-degrees-of-freedom tactile actuator for interacting with Augmented and Virtual Realities. With the actuator, we also designed various types of tactile feedback that simulate tangential virtual friction, normal compliance, and surface texture. Friction, compliance, and texture are what we always feel when we touch objects, and they are the most basic elements to recognize the objects. In order to simulate them, vibrotactile feedback and human’s perceptual illusions were explored and utilized. The virtual friction feedback was extended to 2D by combining two asymmetric vibrations with XY stage structure. Given only a force-displacement curve, the compliance feedback could simulate the elasticity or stiffness of various materials. The texture feedback could simulate various types of surfaces such as common paper, textile, sandpaper, and corrugated cardboard. In addition, we verified that there was little interference between the friction and the texture feedbacks when both feedbacks were provided simultaneously. Three tactile devices —named HapThimble, HapCube, and HapCube+, respectively— were developed for generating the tactile feedbacks, and with the devices, a series of experiments was conducted to examine the tactile feedbacks. The experimental results shows that the all feedbacks are generated and conveyed to users properly. At the end of the dissertation, we discussed the differences from the previous studies, the applicability of the developed tactile feedbacks and devices, and limitations of our research.