Abstract
Presentation of friction is a critical essence in various scenes such as support for remote operation of robot hand or haptic interaction with virtual world. In this paper, we propose a novel tactile device that can present friction by using vertical vibration and horizontal skin deformation to user's fingertip. Adding tangential skin deformation, which has been used for presenting friction in previous works, we represent counter force from surface so that we can present natural haptic interaction with friction. Furthermore, the device can present friction by cutaneous feedback system, which is able to be realized by simple implementation, while kinesthetic feedback system can be heavy and complex.
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