Abstract

We introduce a new haptic force feedback device — the eShiver — for creating lateral shear force on the bare fingertip. The eShiver uses in-plane oscillatory motion of a variable-friction electroadhesive surface operating at 55Hz. A set of experiments performed with an artificial finger is used to elucidate the performance characteristics of this device. A maximum net lateral force of ±300mN is achieved, and net force is shown to be a function of velocity, applied voltage, and the phase between them. We propose a simple lumped parameter model for the system consisting of a lateral impedance and a voltage controlled friction switch. We also discuss the limitations and areas of possible improvement for this method of force generation.

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