Texture rendering strategies with a high fidelity, capacitive visual-haptic friction control device

Abstract

Ultrasonic vibrations of a plate can modify the perception of the friction between a surface and a sliding finger. This principle, coupled with modern position sensing techniques, is able to reproduce textured materials. In this paper, an open loop control through model inversion of the friction force between the finger and the plate is presented. The device incorporating the control system is described, and two different reproduction strategies are formalized to address the reproduction of objects and textures. In the end, a psychophysical experiment evaluating the two control strategies is described.