Abstract
The integration of polymeric actuators in haptic displays is widespread nowadays, especially in virtual reality and rehabilitation applications. However, we are still far from optimizing the transducer ability in conveying sensory information. Here, we present a vibrotactile actuator characterized by a piezoelectric disk embedded in a polydimethylsiloxane (PDMS) shell. An original encapsulation technique was performed to provide the stiff active element with a compliant cover as an interface towards the soft human skin. The interface stiffness, together with the new geometry, generated an effective transmission of vibrotactile stimulation and made the encapsulated transducer a performant component for the development of wearable tactile displays. The mechanical behavior of the developed transducer was numerically modeled as a function of the driving voltage and frequency, and the exerted normal forces were experimentally measured with a load cell. The actuator was then tested for the integration in a haptic glove in single-finger and bi-finger condition, in a 2-AFC tactile stimulus recognition test. Psychophysical results across all the tested sensory conditions confirmed that the developed integrated haptic system was effective in delivering vibrotactile information when the frequency applied to the skin is within the 200–700 Hz range and the stimulus variation is larger than 100 Hz.
Highlights
In recent years, the development of haptic devices for different application purposes has increased
Psychophysical results across all the tested sensory conditions confirmed that the developed integrated haptic system was effective in delivering vibrotactile information when the frequency applied to the skin is within the 200–700 Hz range and the stimulus variation is larger than 100 Hz
We focus on the development and evaluation of a piezoelectric transducer encapsulated in a polymeric matrix, and on its integration in wearable haptic displays to deliver information via the tactile sense, starting from the hypothesis that the introduction of a compliant interface between the stiff piezoelectric element and the soft human skin can have an influence at a perceptual level
Summary
The development of haptic devices for different application purposes has increased. Like electro-active polymers, have been used for the development of tactile displays for rehabilitation or virtual reality applications [8]. A polymeric encapsulation can facilitate the integration of the transducers in more complex haptic systems, i.e., wearable tactile displays for sensory substitution and/or augmentation in contexts like manufacturing, virtual reality, and rehabilitation. We focus on the development and evaluation of a piezoelectric transducer encapsulated in a polymeric matrix, and on its integration in wearable haptic displays to deliver information via the tactile sense, starting from the hypothesis that the introduction of a compliant interface between the stiff piezoelectric element and the soft human skin can have an influence at a perceptual level. TMhiceromfoaclhlionews 2i0n17g, 8s, e27c0tions of this paper present the design and fabrication procedur3eoff1o8r the developedThveibforlolotawcitnilge sheactpiotincstroafntshdisucpearpewr itphrepseonlyt mtheeridceesnigcnapasnudlafatibornic,atthioenfipnrioteceedluerme efnort mtheethod (FEMd)emveolodpeeldlinvgiboroftiatcstitlreahnaspdtuiccttiroannspdruocpererwtiieths,paonlydmthereicpernoccaepdsuurlaetsiofno,rtihtes efixnpiteereilmemenentat lmeevtahloudation (Secti(oFnEM2))m; tohdeenlli,ntghoef irtessturlatnssdaruectpiornopvridopeedrtaiensd, anddistchuespserodcewduitrhesrfeosrpitesctextpoertihmeenmtaoldeevlalilunagtiaonnd its asses(sSmecetniotnv2ia); bthenenc,hthteestrse,suanltds athree ptraonvsiddeudcaenr disduissceudsswedithwinitha rpessypcehctotpohtyhseicmalopdreolltinogcoalnidnvitoslving healthayssseussbmjeecntst v(Siaecbteionnch3t)e;sfitsn,aalnlyd, the tcroanncslduuscieorniss dursaedwwthitehpinearsppseyccthivoepshfyosricfaultpurroetaocpopllincavtoilovninsgof the systemhea(Sltehcytisounbj4e)c.ts (Section 3); the conclusions draw the perspectives for fut ure applications of the system (Section 4)
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