Wearable 3DOF substitutive force display device based on frictional vibrotactile phantom sensation

Abstract

We have developed a substitutive three-degree-of-freedom force display device that is wearable on the fingertips. This device utilizes vibrotactile phantom sensation (VPS) and substitutes normal and tangential forces by using the VPS magnitude and position displacement. The device has five voice-coil actuators that produce oscillatory friction force to generate VPS. The adoption of friction force oscillation realized 8.5 mm thickness at the finger pad and 13.2 g weight.