Abstract
This paper describes haptic presentation of object surfaces in a three dimensional (3D) virtual space. We have developed the 3D Texture Display System that presents touch status between a finger and a virtual spatial object by combination use of a vibratory stimulus and force-feedback. The vibratory stimulus is provided to the user's fingerpad to impart texture sensation along with a contact force from an object surface. We conducted two experiments regarding the accuracy of texture perception. The result of the experiments showed that the subjects perceived very small differences in wave lengths and wave forms. In addition, force-feedback seemed to have little influence on the discrimination of simple textures used in the experiment.
