Abstract
We propose a haptic transmission system that consists of a vision-based cutaneous sensor and a cutaneous display employing electrotactile stimulus. The proposed transmission system can simultaneously transmit kinesthetic, spatially distributed tactile, and thermal information. Users of this transmission system can recognize the shape and temperature of an object as the initial haptic impression, that a user perceives even if he/she does not move his/her fingertip after initially contacting the object. Therefore, we consider that the proposed transmission system may enable a user to perceive some initial haptic impressions and could therefore be utilized to improve the reality of the haptic sense perceived from a remote object.
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