HapCube: A Wearable Tactile Device to Provide Tangential and Normal Pseudo-Force Feedback on a Fingertip

Haptic devices allow a more immersive experience with Virtual and Augmented Reality. However, for a wider range of usage they need to be miniaturized while maintaining the quality of haptic feedback. In this study, we used two kinds of human sensory illusion of vibration. The first illusion involves creating a virtual force (pulling sensation) using asymmetric vibration, and the second involves imparting compliances of complex stress-strain curves (i.e. force-displacement curves of mechanical keyboards) to a rigid object by changing the frequency and amplitude of vibration. Using these two illusions, we developed a wearable tactile device named HapCube, consisting of three orthogonal voicecoil actuators. Four measurement tests and four user tests confirmed that 1) a combination of two orthogonal asymmetric vibrations could provide a 2D virtual force in any tangential directions on a finger pad, and 2) a single voicecoil actuator produced pseudo-force feedback of the complex compliance curves in the normal direction.

[1]  V. Hayward,et al.  Design and analysis of a recoil-type vibrotactile transducer. , 2010, The Journal of the Acoustical Society of America.

[2]  J. Edward Colgate,et al.  Two experiments on the perception of slip at the fingertip , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[3]  Hiroyuki Kajimoto,et al.  Pseudo force presentation to multiple fingers by asymmetric rotational vibration using a motor: Consideration in grasping posture , 2017, 2017 IEEE World Haptics Conference (WHC).

[4]  William R. Provancher,et al.  Perception of Direction for Applied Tangential Skin Displacement: Effects of Speed, Displacement, and Repetition , 2010, IEEE Transactions on Haptics.

[5]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[6]  Heather Culbertson,et al.  Generating haptic texture models from unconstrained tool-surface interactions , 2013, 2013 World Haptics Conference (WHC).

[7]  Paulo Gallotti,et al.  v-Glove: A 3D Virtual Touch Interface , 2011, 2011 XIII Symposium on Virtual Reality.

[8]  Claudio Pacchierotti,et al.  Design and development of a 3RRS wearable fingertip cutaneous device , 2015, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[9]  Vincent Lévesque,et al.  ReFlex: A Flexible Smartphone with Active Haptic Feedback for Bend Input , 2016, TEI.

[10]  Hiroo Iwata,et al.  Properties of proprioceptive sensation with a vibration speaker-type non-grounded haptic interface , 2016, 2016 IEEE Haptics Symposium (HAPTICS).

[11]  Shuhei Asano,et al.  Vibrotactile Stimulation to Increase and Decrease Texture Roughness , 2015, IEEE Transactions on Human-Machine Systems.

[12]  Geehyuk Lee,et al.  Haptic feedback design for a virtual button along force-displacement curves , 2013, UIST.

[13]  Tomohiro Amemiya,et al.  Virtual force display: direction guidance using asymmetric acceleration via periodic translational motion , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[14]  Changseok Bae,et al.  Vision-based Virtual Touch Screen Interface , 2008, 2008 Digest of Technical Papers - International Conference on Consumer Electronics.

[15]  Johan Kildal,et al.  3D-press: haptic illusion of compliance when pressing on a rigid surface , 2010, ICMI-MLMI '10.

[16]  Allison M. Okamura,et al.  Three-Dimensional Skin Deformation as Force Substitution: Wearable Device Design and Performance During Haptic Exploration of Virtual Environments , 2017, IEEE Transactions on Haptics.

[17]  Tomohiro Amemiya,et al.  Directional Torque Perception with Brief, Asymmetric Net Rotation of a Flywheel , 2013, IEEE Transactions on Haptics.

[18]  Woohun Lee,et al.  HapThimble: A Wearable Haptic Device towards Usable Virtual Touch Screen , 2016, CHI.

[19]  Yoji Yamada,et al.  Friction Sensation Produced by Laterally Asymmetric Vibrotactile Stimulus , 2014 .

[20]  Allison M. Okamura,et al.  Modeling and design of asymmetric vibrations to induce ungrounded pulling sensation through asymmetric skin displacement , 2016, 2016 IEEE Haptics Symposium (HAPTICS).

[21]  Allison M. Okamura,et al.  WAVES: A Wearable Asymmetric Vibration Excitation System for Presenting Three-Dimensional Translation and Rotation Cues , 2017, CHI.

[22]  Allison M. Okamura,et al.  Fingertip Tactile Devices for Virtual Object Manipulation and Exploration , 2017, CHI.

[23]  Jun Wu,et al.  Virtual fixture based haptic rendering of handwriting , 2009, 2009 IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurements Systems.

[24]  Hiroaki Yano,et al.  Evaluation of the Perceptual Characteristics of a Force Induced by Asymmetric Vibrations , 2018, IEEE Transactions on Haptics.

[25]  M. Grunwald.  Human haptic perception : basics and applications , 2008 .

[26]  Clément Gosselin,et al.  Development and Experimental Validation of a Haptic Compass Based on Asymmetric Torque Stimuli , 2017, IEEE Transactions on Haptics.

[27]  Bing Wu,et al.  FingerSight: Fingertip Haptic Sensing of the Visual Environment , 2014, IEEE Journal of Translational Engineering in Health and Medicine.

[28]  Martin Buss,et al.  First evaluation of a novel tactile display exerting shear force via lateral displacement , 2005, TAP.

[29]  Francesco Chinello,et al.  Optimization-Based Wearable Tactile Rendering , 2017, IEEE Transactions on Haptics.

[30]  Joseph M. Romano,et al.  Creating Realistic Virtual Textures from Contact Acceleration Data , 2012, IEEE Transactions on Haptics.

[31]  Tomohiro Amemiya,et al.  Active Manual Movement Improves Directional Perception of Illusory Force , 2016, IEEE Transactions on Haptics.

[32]  Li Bai,et al.  Virtual Touch Screen for Mixed Reality , 2004, ECCV Workshop on HCI.

[33]  Kasper Hornbæk,et al.  Generating Haptic Textures with a Vibrotactile Actuator , 2017, CHI.

[34]  Tomohiro Amemiya,et al.  Distinct Pseudo-Attraction Force Sensation by a Thumb-Sized Vibrator that Oscillates Asymmetrically , 2014, EuroHaptics.

[35]  D. Keyson,et al.  Directional sensitivity to a tactile point stimulus moving across the fingerpad , 1995, Perception & psychophysics.

[36]  Hakan Gurocak,et al.  Haptic Glove with MR Brakes for Distributed Finger Force Feedback , 2009, PRESENCE: Teleoperators and Virtual Environments.

[37]  Shuhei Asano,et al.  Vibrotactile display approach that modifies roughness sensations of real textures , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[38]  Jun Rekimoto,et al.  Traxion: a tactile interaction device with virtual force sensation , 2013, SIGGRAPH '14.