Rendering different sensations to multiple fingers in a multi-digit softness display: Pulsation and distributed softness

Abstract

This study demonstrates rendering of two unique softness sensations, by using a multi-digit softness display developed earlier by the authors. In one demonstration, a user can feel pulsating object within a soft material, which simulates a pulsating vessel or a heart within human body. The other demonstration is for distributed softness. By providing different softness sensations to multiple fingers, the system can render hard content within a soft body. In both of the demonstrations, a user can virtually rub the surface by providing lateral force to the device.