A shape conveying interface based on tactile feedback is developed in this paper. To deliver the reference shape, the electromagnetic (EM) position sensors and wearable permanent magnet based EM actuator are used to provide the estimated 3D image by the user's scanning. Principle and experimental results of EM position measurement are provided. ANSYS simulation is used to design a proper dimension of solenoid to drive the permanent magnet actuator. With the designed actuator, the 63.57 mN actuation force at peak current is estimated from measured force-current curve. 50-Hz operation which has been shown to be optimal working frequency is used to produce vibratory stimulation to user's finger. The shape perception experiments performed by 2 volunteers showed that majority of shapes are able to be delivered. More cues may be incorporated in order to improve successful rate of the shape delivery.
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