Multi-modal cutaneous tactile feedback

Haptic cues are the forms of information that can be acquired by the human sensory system through touching or handling an object. Some cues require active exploration while others are passively received. A basic taxonomy of haptic cues and the role that each cue plays in grasping and manipulation is illustrated in this paper. An initial analysis considers all forms of sensing and feedback (visual, audio, smell and taste) but attention is focused on global tactile requirements (kinaesthetic) and the local tactile (cutaneous) sensory cues. A multi-modal feedback system is shown which can stimulate a range of tactile nerves (mid/mid and low frequency plus thermal), together with the test results. Particular attention is applied to the use of mid-high frequency stimulation, where interesting sensations have been recorded which have a direct bearing on the ability of a user to use this form of system for prolonged periods.