Abstract
In order to investigate effects on presentation tactile-haptic reality, the authors developed a multi-modal display capable of simulating mechanoreceptors of fingers in addition to the muscle-tendons. The multi-modal display was constituted of a manipulator having three-degrees of freedom and a gripping force display equipped with two tactile displays. The tactile display has a display pad of a 6-by-4 array of stimulus pins, which generates distributed pressure on a human operator's finger surface. In order to evaluate the present display, we performed Experiment A and B. In Experiment A, human operators judged diameters of virtual pegs. The experimental result showed that estimation precision was enhanced by simultaneous presentation of both tactile and force. In Experiment B, human operators performed virtual peg-in-hole tasks. In the case of loose mates of the peg and hole, precision of centering adjustment was enhanced by the simultaneous presentation From these experimental results, we concluded that the present display was effective in virtual reality technology because the operator performs pick and place tasks in handling virtual objects.
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