Abstract
In this study, we present a feasible solution to address the problem of deficiency of haptic feedback in fine manipulation. We studied the effect of skin stimulation by multipoint suction pressure on the haptic perception of external force. The subjects perceived the presented magnitude and direction of suction pressure and interpreted it, by exerting an equivalent force vector on the tactile interface. We had obtained the characteristics of perceived external force with respect to suction pressure stimuli. This relationship is used as a model for presenting the stimuli on the interface.
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