Built-in capacitive position sensing for multi-user electrostatic visuo-haptic display

Abstract

This article describes a built-in capacitive-type position sensing for a multi-finger visuo-haptic display system using electrostatic force. The sensing system shares the same components with the electrostatic haptic rendering, which are voltage signal sources, contact pads, and a sheet of ITO electrode. High-frequency sensor signal is superposed onto low-frequency high-voltage signal for the electrostatic haptic feedback, and the flowing high-frequency current is measured to estimate the position of the pad. To demonstrate the system capability, hockey game was implemented, in which two players can hit a virtual puck with haptic feedback.