Reproduction of Grasping Sensation by High-resolution Suction Tactile Display for Finger Pads

Integration with a Parallel Link Haptic Display

Abstract

Both cutaneous and kinesthetic sensations contribute to human dexterous manipulation performance. To realize skillful manipulation in VR environments, tactile and force senses must be reproduced with high realism. This study aims to develop a display in which tactile and force sensations can be presented independently by integrating a suction tactile display and a parallel-linked force display, which has low inertia, high rigidity, and high-speed operation. Design guidelines for the integration are reported, and a prototype of a suction tactile display for the integration is shown. A contact simulator with a deformable finger is also introduced for future cutaneous sensation presentation.