Abstract
This paper describes the characteristics of haptic sensation that is evoked at the finger skin by a shear force presented using rotational contactors. The tactile sensation scaling was performed regarding five contactor conditions and directions of rotation. Approximately six to eight levels were discriminated in the given 100-to-1500rpm range at the index finger. The sensitivity difference among stimulation sites was investigated; the result showed the highest sensitivity was observed at the fingertip. The interference between two shear stimulations was measured to show the masking effect. The results demonstrated that the sensitivity decreased with the increase of the intensity level provided by an adjacent contactor.
