Position and Force-direction Detection for Multi-finger Electrostatic Haptic System Using a Vision-based Touch Panel

This article proposes a method of detecting position and force-direction for multi-finger electrostatic haptic system using a vision-based touch panel. The system consists of a vision-based touch panel, a transparent ITO (Indium Tin Oxide) electrode on the panel, and multiple stimulators with markers. Analyzing positions of the markers with the vision-based touch panel, the proposed method can detect position and force-direction of each stimulator. Detection of applied force direction is imperative to reduce undesired stickiness of virtual walls in passive haptic rendering systems. The developed system could successfully reduced the stickiness, but its performance was limited due to the limited tracking performance of the touch panel.