Tactile display method based on characteristics of human tactile sensation

Abstract

This paper proposes a tactile display method based on characteristics of human tactile sensation. Tactile sensing and display is different from that of visual or audio signals because it involves physical contact with the object and the display device. Because of this difference in sensing and displaying modality, wide bandwidth and dynamic range of the tactile display do not automatically contribute to the enhancement of tactile sensation. Experiment on tactile differentiation by touching a vibrating pin has shown that the necessary bandwidth for tactile display was approximately 300Hz. Experiment on measuring the threshold for recognizing protruding and receding display pin has shown that humans are insensitive to motion below the threshold velocity. This finding has led to a design of tactile display motion for touch and removal of a finger. When the display pin protrudes rapidly and recedes slowly, human will only feel the protrusion, which gives a sensation of "touch". Slow protrusion and rapid receding motion gives a sensation of removal. This effect has been verified by experiments using a remote controlled robot hand.