Display of Soft Elastic Object by Simultaneous Control of Fingertip Contact Area and Reaction Force

Abstract

This paper proposes a new haptic device to display the softness of elastic objects. The fingertip contact area and the reaction force were controlled simultaneously to display the fingertip sinking into soft materials. The contact area was controlled pneumatically by controlling the air pressure between the rubber membrane and the end-effecter of a force display. The psychophysical experiment clarified that the contact area spread in addition to the reaction force provides the more accurate softness sensation.