Abstract
In order to investigate effects on presentation tactile-haptic reality, the authors developed two multi-modal displays A and B. Display A was able to stimulate muscle-tendons of forearms and fingers. Display B was able to simulate mechanoreceptors of fingers in addition to the muscle-tendons. Display A was constituted of a manipulator having three-degrees of freedom and a gripping force display. Display B was constituted of a tactile display having an 8-times-8 array of stimulus pins and the above-mentioned manipulator. A psychophysical experiment was performed using an adaptive method. In the adaptive method, a human subject adjusted a crossing angle of a comparison texture to be equivalent to a standard texture fixed during the experiment. As the result of the experiment, we obtained a threshold of 16.8 degrees of crossing angle. Since the value of the threshold is similar to the threshold obtained by similar experiments using a mouse-mounting typed tactile display that has adequate capability to present virtual textures, it guarantees presentation capabilities of the present displays.
