2P1-P02 Vib-Touch:Fingertip Haptic Interaction using Virtual Active Touch : 5th Report:Representaion of Surface Shapes Based on a Physical Collision Model(Tactile and Force Sensing(2))

Abstract

We have proposed the concept of 'Virtual Active Touch' that implements virtual exploration with a cursor on a screen through a pointing-stick-type tactile interface called Vib-Touch. We have also proposed a new approach for representing surface shape induced by cutaneous sensation of friction. This paper enhances the previous surface shape display method in order to apply to arbitrary surface shapes. A proxy-based physical collision model was applied to calculate horizontal forces corresponding to contact reaction forces with virtual surface shapes.