2006 Volume 11 Issue 1 Pages 105-114
In this paper, we describe a new design of haptic texture display consisting of fifty vibratory pins that evoke a virtual touch sensation of textured surfaces contacted to the user's fingerpad. A pin drive mechanism was fabricated by adjusting a natural frequency to efficiently expand the displacement of a piezoelectric actuator. An improved control system enabled fine amplitude changes in 200 steps. Sensation intensity was scaled and indicated by a power function of pin amplitude. We measured, as fundamental evaluation, the difference threshold of object's spatial frequency presented on the display with four different intensity waveforms. Moreover, matching tests between real and virtual textures were performed to evaluate the quality of presentation.
