This paper describes tactile displays to generate contact feeling to a fingertip using shape memory alloy (SMA) and a vibrator. A contact pad is actuated by SMA wires through a lever mechanism. As the contact pad collides against a finger pad, a vibrator simultaneously presents vibrotactile stimulation to the fingertip to modify the contact feeling. A pilot experiment showed that the generated feeling could be modified by the vibrotactile stimulation.
