2010 Volume 15 Issue 2 Pages 263-272
We propose a substitutive tangential force and slip display method by controlling position of the vibrotactile phantom sensation (VPS). The tangential force is substituted by the VPS position displacement and the slip is displayed as the oscillatory displacement of the VPS position. A 20mmx20mmx20mm fingertip-wearable device with four pins has been prototyped. The evaluation experiments demonstrated the feasibility of the substitutive display of tangential force and slip, and the assistive effect in cognition of contact state change.