Shape and Stiffness Sensation Feedback with Electro-Tactile and Pseudo-Force Presentation When Grasping a Virtual Object

摘要

We developed a 3D virtual reality system with electro-tactile and pseudo force stimulation for presenting sensation of shape and stiffness of an object to the tips of thumb and index finger. Our system comprises two fingertip gloves and a finger-motion capture device. Each glove provides a shape sensation via an electrode array of the electro-tactile display and pseudo-force sensation via asymmetric vibration of a DC motor. In our demo experience, participants can grasp a 3D virtual object and perceive both tactile feedback on the fingertips and visual feedback of rigid or deformable shape of the objects showing on the monitor. Our previous study confirmed that the initial vibration amplitude, which represents the reaction force when the thumb and the index finger initially contact the surface of an object, effects to the intensity of stiffness perception. In the demo, we design several kinds of initial vibration amplitude, shape, and shape deformation for different perception of shape and stiffness.