Abstract
A new display method of friction sensation based on tactile stimulation is proposed. In this method, no tangential force on the fingertip is required to represent friction sensation. We focus on stick-slip phenomena when we rub on the surfaces and capture fingerprint in contact area. From the result, stick-slip frequency and appearance rate is different depend on finger velocity and normal contact force. The characteristic of stick-slip was expressed by a single DOF model with Coulomb's friction, which represents the effects of coefficients of dynamic/static friction and hand movements. The sensory magnitudes of the perceived friction by the proposed method were evaluated in contrast with a force display. The experimental results showed that the perceived friction proposed had high correlation with that of the force display in regard to the increase tendency toward static friction coefficients. The sensory magnitudes of the tactile perceived friction were about one-seventh smaller than that of the force display.
