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Spatiotemporal Tactile Display with Tangential Force and Normal Skin Vibration Generated by Shaft End-Effectors

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Haptic Interaction (AsiaHaptics 2018)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 535))

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Abstract

While rubbing a material, both shear force and vibration spatiotemporally occur on the skin of our finger pad. To reproduce various kind of rubbing sensation, we developed a tactile display using shaft end-effectors to spatiotemporally drive the skin of finger pad. Each shaft was connected to a DC motor and to a voice coil. When the shaft is rotated by a DC motor, the friction of the shaft tangentially move the skin. In addition, the voice coil was used to vibrate the shaft perpendicularly to the skin. There are six shafts in our present study. We conducted preliminary test to reproduce rubbing sensation of three sample materials, hemp, leather and Teflon. In the demo, participants can experience our display reproducing these material sensation. They also can adjust the amplitudes and the frequencies of tangential and normal skin vibration by comparing to the sensation of the real materials.

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Acknowledgement

This work was partly supported by JSPS KAKENHI Grant Number JP26240029, JP18055498, and MIC/SCOPE #141203019.

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Authors and Affiliations

  1. Tokyo Metropolitan University, Hachioji, Tokyo, Japan

    Takumi Shimada, Yo Kamishohara, Vibol Yem, Yasushi Ikei & Makoto Sato

  2. NTT Communications Science Laboratories, Kyoto, Kanagawa, Japan

    Tomohiro Amemiya

  3. Toyohashi University of Technology, Toyohashi, Aichi, Japan

    Michiteru Kitazaki

Authors
  1. Takumi Shimada
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  2. Yo Kamishohara
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  3. Vibol Yem
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  4. Tomohiro Amemiya
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  5. Yasushi Ikei
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  6. Makoto Sato
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  7. Michiteru Kitazaki
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Corresponding author

Correspondence to Takumi Shimada .

Editor information

Editors and Affiliations

  1. Department of Informatics, The University of Electro-Communications, Chofu, Tokyo, Japan

    Hiroyuki Kajimoto

  2. School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea (Republic of)

    Dongjun Lee

  3. Korea University of Technology and Education, Cheonan-si, Ch´ungch´ong-namdo, Korea (Republic of)

    Sang-Youn Kim

  4. Tohoku University, Miyagi, Miyagi, Japan

    Masashi Konyo

  5. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Ki-Uk Kyung

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Shimada, T. et al. (2019). Spatiotemporal Tactile Display with Tangential Force and Normal Skin Vibration Generated by Shaft End-Effectors. In: Kajimoto, H., Lee, D., Kim, SY., Konyo, M., Kyung, KU. (eds) Haptic Interaction. AsiaHaptics 2018. Lecture Notes in Electrical Engineering, vol 535. Springer, Singapore. https://doi.org/10.1007/978-981-13-3194-7_44

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