抄録
This study proposes a novel technique to display tactile sensation using electro-rheological fluid (ERF). ERF changes its Theological characteristics according to the electric field applied. The ERF used in this study generates relatively high yield stress and behaves as a solid when subjected to a strong electric field. Using this solid-liquid phase transition, we propose a device which provides a tactile sensation, i.e., tactile roughness display. Applying electric field at a specific position in an ERF chamber, the corresponding ERF turns to solid at the position. This solid-state ERF gives tactile sensation like a convex to a user. We develop in this study several prototypes, which may realize the above-mentioned idea, and characterize them. We obtained the following results through experiments. First, the tactile roughness display gives tactile sensation to a user. Second, as the strength of electric field increases, the probability of tactile sensation perception given by roughness tactile display increases. On the other hand, the quantity of increase in yield stress does not contribute to the probability.
